diff --git a/assets/urdf/Kettle/102761/textured_objs/original-1.mtl b/assets/urdf/Kettle/102761/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..04b0d7a3d38b040993e1d63613edc06dbf2fe01f
--- /dev/null
+++ b/assets/urdf/Kettle/102761/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.9764705882352941 0.9215686274509803 0.8392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.9764705882352941 0.9372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102761/textured_objs/original-1.obj b/assets/urdf/Kettle/102761/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..548e3696c6111a25792d1ebadab7fcb6c8c33c64
--- /dev/null
+++ b/assets/urdf/Kettle/102761/textured_objs/original-1.obj
@@ -0,0 +1,24179 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/assets/urdf/Kettle/102761/textured_objs/original-2.mtl b/assets/urdf/Kettle/102761/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..04b0d7a3d38b040993e1d63613edc06dbf2fe01f
--- /dev/null
+++ b/assets/urdf/Kettle/102761/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
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+newmtl material_1_0
+illum 3
+d 1
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diff --git a/assets/urdf/Kettle/102761/textured_objs/original-2.obj b/assets/urdf/Kettle/102761/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e69f09b186a71b21a890a485e26ce0c9f4398b4
--- /dev/null
+++ b/assets/urdf/Kettle/102761/textured_objs/original-2.obj
@@ -0,0 +1,4394 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/assets/urdf/Kettle/102761/textured_objs/original-3.mtl b/assets/urdf/Kettle/102761/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..04b0d7a3d38b040993e1d63613edc06dbf2fe01f
--- /dev/null
+++ b/assets/urdf/Kettle/102761/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.9764705882352941 0.9215686274509803 0.8392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.9764705882352941 0.9372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102761/textured_objs/original-3.obj b/assets/urdf/Kettle/102761/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fc312ac27552e509b647d743abf9ac0aef4bb30
--- /dev/null
+++ b/assets/urdf/Kettle/102761/textured_objs/original-3.obj
@@ -0,0 +1,21710 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/assets/urdf/Kettle/102761/textured_objs/original-4.mtl b/assets/urdf/Kettle/102761/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..04b0d7a3d38b040993e1d63613edc06dbf2fe01f
--- /dev/null
+++ b/assets/urdf/Kettle/102761/textured_objs/original-4.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.9764705882352941 0.9215686274509803 0.8392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.9764705882352941 0.9372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/102761/textured_objs/original-4.obj b/assets/urdf/Kettle/102761/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d678b77d9df0d28f6acceaeee28e38aae7c92ea1
--- /dev/null
+++ b/assets/urdf/Kettle/102761/textured_objs/original-4.obj
@@ -0,0 +1,7082 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..21dee50e475beb79a626bd3d734c909c5c617d22
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-1.obj b/assets/urdf/Kettle/103222/textured_objs/original-1.obj
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index 0000000000000000000000000000000000000000..0ec159315bcf407ca863473e0f942aa5d9844ea3
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-10.mtl b/assets/urdf/Kettle/103222/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103222/textured_objs/original-10.obj b/assets/urdf/Kettle/103222/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6f6e5e29b0e62d3c056f7c68cb2720f3a62021c
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-10.obj
@@ -0,0 +1,20790 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-11.mtl b/assets/urdf/Kettle/103222/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103222/textured_objs/original-11.obj b/assets/urdf/Kettle/103222/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b9881740325f5787a411754ae31510a0c6c285
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-11.obj
@@ -0,0 +1,430 @@
+# SSTK version 0.8.0
+# 11
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-12.mtl b/assets/urdf/Kettle/103222/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103222/textured_objs/original-12.obj b/assets/urdf/Kettle/103222/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3be250e0a587ec60663e8c221b21e762bd1fba73
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-12.obj
@@ -0,0 +1,430 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-13.mtl b/assets/urdf/Kettle/103222/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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index 0000000000000000000000000000000000000000..f10d39f8e2f2d907420e90aa77c03f9d3e38411c
--- /dev/null
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-14.mtl b/assets/urdf/Kettle/103222/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103222/textured_objs/original-14.obj b/assets/urdf/Kettle/103222/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0fa8b7045aaf360d84c6cb4a4e0578d292cb976
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-14.obj
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-15.mtl b/assets/urdf/Kettle/103222/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-15.obj b/assets/urdf/Kettle/103222/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d20539b9f7659674288ab36c314b921b070541a9
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-15.obj
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-16.mtl b/assets/urdf/Kettle/103222/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-16.mtl
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-16.obj b/assets/urdf/Kettle/103222/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..926c60089fb3761c6bf22f9a39ba12b79b1280e6
--- /dev/null
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-17.mtl b/assets/urdf/Kettle/103222/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-17.mtl
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-17.obj b/assets/urdf/Kettle/103222/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a60a237decab2142165f09422a9137befca8c216
--- /dev/null
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-18.mtl b/assets/urdf/Kettle/103222/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-18.mtl
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-18.obj b/assets/urdf/Kettle/103222/textured_objs/original-18.obj
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index 0000000000000000000000000000000000000000..e317e4a7158ff821b911de6279c4baf3f58bab85
--- /dev/null
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-19.mtl b/assets/urdf/Kettle/103222/textured_objs/original-19.mtl
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index 0000000000000000000000000000000000000000..76fde017a2fb538fb522f573cc9ab6297d1b3cd6
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-19.mtl
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-19.obj b/assets/urdf/Kettle/103222/textured_objs/original-19.obj
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index 0000000000000000000000000000000000000000..117eda3e8147c6255a76d62fa6b5c1eda48363e6
--- /dev/null
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-2.mtl b/assets/urdf/Kettle/103222/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..04c618aa8011a84cfd345c39ab0edb414c4ae70c
--- /dev/null
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-2.obj b/assets/urdf/Kettle/103222/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..274f3063f18cb971503170ab76b0cd49c7a4da2d
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-2.obj
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-20.mtl b/assets/urdf/Kettle/103222/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21dee50e475beb79a626bd3d734c909c5c617d22
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-20.mtl
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-20.obj b/assets/urdf/Kettle/103222/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c585ec9b534371528e65c60e8d3c58c08fdb372f
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-20.obj
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-21.obj b/assets/urdf/Kettle/103222/textured_objs/original-21.obj
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-24.obj b/assets/urdf/Kettle/103222/textured_objs/original-24.obj
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-3.mtl b/assets/urdf/Kettle/103222/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21dee50e475beb79a626bd3d734c909c5c617d22
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.7490196078431373 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103222/textured_objs/original-3.obj b/assets/urdf/Kettle/103222/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a2716ae6c4dcaaf84b621d3a9b571d56e8b7f6a
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-3.obj
@@ -0,0 +1,35791 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-4.mtl b/assets/urdf/Kettle/103222/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21dee50e475beb79a626bd3d734c909c5c617d22
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-4.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.7490196078431373 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103222/textured_objs/original-4.obj b/assets/urdf/Kettle/103222/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b92e6cdda0741e2d76643164eacea3bd55202610
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-4.obj
@@ -0,0 +1,8263 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-5.mtl b/assets/urdf/Kettle/103222/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21dee50e475beb79a626bd3d734c909c5c617d22
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-5.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.7490196078431373 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103222/textured_objs/original-5.obj b/assets/urdf/Kettle/103222/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3dc0dd5804748d96818acc75a2f13ccc542d113
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-5.obj
@@ -0,0 +1,5239 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-6.mtl b/assets/urdf/Kettle/103222/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21dee50e475beb79a626bd3d734c909c5c617d22
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-6.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+
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+
diff --git a/assets/urdf/Kettle/103222/textured_objs/original-6.obj b/assets/urdf/Kettle/103222/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..576b24b65f7d0535c8989f82a34e960b536ad511
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-6.obj
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-7.mtl b/assets/urdf/Kettle/103222/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-7.mtl
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+illum 3
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-7.obj b/assets/urdf/Kettle/103222/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60884f4ab86affebcbe45371d49647ed9526a0ad
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-7.obj
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-8.mtl b/assets/urdf/Kettle/103222/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103222/textured_objs/original-8.obj b/assets/urdf/Kettle/103222/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6fcb9efdca58e321a2a356b04cba277a514497f
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-8.obj
@@ -0,0 +1,41456 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Kettle/103222/textured_objs/original-9.mtl b/assets/urdf/Kettle/103222/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Kettle/103222/textured_objs/original-9.obj b/assets/urdf/Kettle/103222/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b277fc576057f8fd5d295a43960b4593d26b9d
--- /dev/null
+++ b/assets/urdf/Kettle/103222/textured_objs/original-9.obj
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-1.mtl b/assets/urdf/Kettle/103223/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb75ed809c8fc1a9f62c391bc51a8e6343909fd3
--- /dev/null
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-1.obj b/assets/urdf/Kettle/103223/textured_objs/original-1.obj
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index 0000000000000000000000000000000000000000..b68800ae1d83047695a7c986eba4aa69c33eb10a
--- /dev/null
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-10.mtl b/assets/urdf/Kettle/103223/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cc1185026f7f57099c18489371a918dcc08d1c76
--- /dev/null
+++ b/assets/urdf/Kettle/103223/textured_objs/original-10.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
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+
+newmtl material_1_0
+illum 3
+d 1
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+map_Kd ../images/texture_0.jpg
+
diff --git a/assets/urdf/Kettle/103223/textured_objs/original-10.obj b/assets/urdf/Kettle/103223/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80f23a0afd5e284e26a036dc8d82e21a328e93f7
--- /dev/null
+++ b/assets/urdf/Kettle/103223/textured_objs/original-10.obj
@@ -0,0 +1,277 @@
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-11.obj b/assets/urdf/Kettle/103223/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..692106e12bdd1607d5e2a21c352c1ab34884baf6
--- /dev/null
+++ b/assets/urdf/Kettle/103223/textured_objs/original-11.obj
@@ -0,0 +1,261 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-12.mtl b/assets/urdf/Kettle/103223/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb75ed809c8fc1a9f62c391bc51a8e6343909fd3
--- /dev/null
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-12.obj b/assets/urdf/Kettle/103223/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78b9e55c910e43339ac96d2463b4aab90f4f3f01
--- /dev/null
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-13.mtl b/assets/urdf/Kettle/103223/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb75ed809c8fc1a9f62c391bc51a8e6343909fd3
--- /dev/null
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-13.obj b/assets/urdf/Kettle/103223/textured_objs/original-13.obj
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index 0000000000000000000000000000000000000000..697cc444c3087d5e3c0dd924d996ed72cbf3f8b6
--- /dev/null
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-14.mtl b/assets/urdf/Kettle/103223/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb75ed809c8fc1a9f62c391bc51a8e6343909fd3
--- /dev/null
+++ b/assets/urdf/Kettle/103223/textured_objs/original-14.mtl
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-14.obj b/assets/urdf/Kettle/103223/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae7c29f8be3fca4bb96300a9976451e86f4d8683
--- /dev/null
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-15.mtl b/assets/urdf/Kettle/103223/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103223/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-15.obj b/assets/urdf/Kettle/103223/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..878b7b511804c7a88b54bdb7ff540007e889a787
--- /dev/null
+++ b/assets/urdf/Kettle/103223/textured_objs/original-15.obj
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-16.obj b/assets/urdf/Kettle/103223/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e885f5b874013cacdfa8f239e36a4f9b94bde736
--- /dev/null
+++ b/assets/urdf/Kettle/103223/textured_objs/original-16.obj
@@ -0,0 +1,1198 @@
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-2.obj b/assets/urdf/Kettle/103223/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6b1ca3785ec24f1c98a7cf62709a1d5787b314f
--- /dev/null
+++ b/assets/urdf/Kettle/103223/textured_objs/original-2.obj
@@ -0,0 +1,3660 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o mesh2/mesh2-geometry#mesh2-geometry
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-3.obj b/assets/urdf/Kettle/103223/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86a29e25acdedfc4c73bc78a34a0cdc23eee0ceb
--- /dev/null
+++ b/assets/urdf/Kettle/103223/textured_objs/original-3.obj
@@ -0,0 +1,1834 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o mesh3/mesh3-geometry#mesh3-geometry
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-6.mtl b/assets/urdf/Kettle/103223/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/assets/urdf/Kettle/103223/textured_objs/original-6.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
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+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
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+
diff --git a/assets/urdf/Kettle/103223/textured_objs/original-6.obj b/assets/urdf/Kettle/103223/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dab2a5e5bde218855af1d8a34b0fe5112685a7a9
--- /dev/null
+++ b/assets/urdf/Kettle/103223/textured_objs/original-6.obj
@@ -0,0 +1,508 @@
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-7.mtl b/assets/urdf/Kettle/103223/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb75ed809c8fc1a9f62c391bc51a8e6343909fd3
--- /dev/null
+++ b/assets/urdf/Kettle/103223/textured_objs/original-7.mtl
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-7.obj b/assets/urdf/Kettle/103223/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b089e6c7f65a84ecd683259f2f52830ecc774342
--- /dev/null
+++ b/assets/urdf/Kettle/103223/textured_objs/original-7.obj
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-8.mtl b/assets/urdf/Kettle/103223/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Kettle/103223/textured_objs/original-8.mtl
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diff --git a/assets/urdf/Kettle/103223/textured_objs/original-8.obj b/assets/urdf/Kettle/103223/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d080b47c8d6e6e54613a71eb3200a7d02b49a98
--- /dev/null
+++ b/assets/urdf/Kettle/103223/textured_objs/original-8.obj
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diff --git a/assets/urdf/Suitcase/100248/bounding_box.json b/assets/urdf/Suitcase/100248/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e5f87f4d4057f6bdbfc00a6d286d5dfca3fe04e
--- /dev/null
+++ b/assets/urdf/Suitcase/100248/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.409969, -0.700659, -0.202881], "max": [0.492832, 1.000391, 0.218337]}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100248/grasp_poses.json b/assets/urdf/Suitcase/100248/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef62cbc016e1eefbd859b3439f4b41d13a617798
--- /dev/null
+++ b/assets/urdf/Suitcase/100248/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "100248",
+    "scale": 0.3,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.20861999690532684,
+                        0.9774799942970276,
+                        -0.03183000162243843,
+                        0.12926000356674194
+                    ],
+                    [
+                        0.9443699717521667,
+                        0.19288000464439392,
+                        -0.2663800120353699,
+                        -0.09617999941110611
+                    ],
+                    [
+                        -0.2542400062084198,
+                        -0.08562999963760376,
+                        -0.9633399844169617,
+                        1.0003199577331543
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100248/meta.json b/assets/urdf/Suitcase/100248/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f05fe55640da189e91a344d9d7e13ecbbd8f5c0
--- /dev/null
+++ b/assets/urdf/Suitcase/100248/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Suitcase", "model_id": "133c16fc6ca7d77676bb31db0358e9c6", "version": "1", "anno_id": "248", "time_in_sec": "952"}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100248/mobility.urdf b/assets/urdf/Suitcase/100248/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9aebe5851c6e5dff9184620eb8d5846dfcdf2fd4
--- /dev/null
+++ b/assets/urdf/Suitcase/100248/mobility.urdf
@@ -0,0 +1,404 @@
+<?xml version="1.0" ?>
+<robot name="partnet_133c16fc6ca7d77676bb31db0358e9c6">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="handle-1">
+			<origin xyz="-0.005511966571948301 -0.5745643757063854 0.11026790109070284"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="-0.005511966571948301 -0.5745643757063854 0.11026790109070284"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="-0.005511966571948301 -0.5745643757063854 0.11026790109070284"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.005511966571948301 -0.5745643757063854 0.11026790109070284"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005511966571948301 -0.5745643757063854 0.11026790109070284"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005511966571948301 -0.5745643757063854 0.11026790109070284"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0.005511966571948301 0.5745643757063854 -0.11026790109070284"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.3600000000000001" upper="-0.052000000000000046"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.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-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-33.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-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.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-27.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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.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-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.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-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-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Suitcase/100248/mobility_v2.json b/assets/urdf/Suitcase/100248/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3da9a843e236789badb75d9c1f61ab6f95bb210
--- /dev/null
+++ b/assets/urdf/Suitcase/100248/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "slider", "name": "handle", "parts": [{"id": 1, "name": "handle", "children": []}], "jointData": {"axis": {"origin": [0.005511966571948301, 0.5745643757063854, -0.11026790109070284], "direction": [0, 1, 0]}, "limit": {"a": -0.3600000000000001, "b": -0.052000000000000046, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100248/model_data.json b/assets/urdf/Suitcase/100248/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..34801d23066ecf6f39fe6d5b33e351040a4a446e
--- /dev/null
+++ b/assets/urdf/Suitcase/100248/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 0.3,
+    "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": [
+                    [
+                        -0.20861999690532684,
+                        0.9774799942970276,
+                        -0.03183000162243843,
+                        0.12926000356674194
+                    ],
+                    [
+                        0.9443699717521667,
+                        0.19288000464439392,
+                        -0.2663800120353699,
+                        -0.09617999941110611
+                    ],
+                    [
+                        -0.2542400062084198,
+                        -0.08562999963760376,
+                        -0.9633399844169617,
+                        1.0003199577331543
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100248/result.json b/assets/urdf/Suitcase/100248/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..419284e9e277d3c644a27e85d0862a583ec48d26
--- /dev/null
+++ b/assets/urdf/Suitcase/100248/result.json
@@ -0,0 +1 @@
+[{"text": "Suitcase", "name": "Suitcase", "id": 0, "children": [{"text": "handle", "name": "handle", "id": 1, "objs": ["original-2", "original-7", "original-26"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-29", "original-21", "original-30", "original-28", "original-4", "original-3", "original-33", "original-16", "original-8", "original-13", "original-9", "original-35", "original-5", "original-27", "original-6", "original-31", "original-15", "original-23", "original-11", "original-34", "original-18", "original-25", "original-17", "original-12", "original-24", "original-20", "original-32", "original-10", "original-19"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100248/result_original.json b/assets/urdf/Suitcase/100248/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..cea4ef3bb9c671aa6fe9a2784f2b58f664a76c93
--- /dev/null
+++ b/assets/urdf/Suitcase/100248/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Suitcase", "text": "Suitcase", "children": [{"id": 1, "name": "handle", "text": "handle", "objs": ["original-2", "original-7", "original-26"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100248/semantics.txt b/assets/urdf/Suitcase/100248/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a70eb8121f3934e0b5a72d75570426f3a4b60cfe
--- /dev/null
+++ b/assets/urdf/Suitcase/100248/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider translation_handle
+link_1 free suitcase_body
diff --git a/assets/urdf/Suitcase/100249/bounding_box.json b/assets/urdf/Suitcase/100249/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cba53a081ba5aa4fd21a3d9566114c3eebf88bd
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.835108, -0.612195, -0.255345], "max": [0.83657, 0.825021, 0.238996]}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100249/grasp_poses.json b/assets/urdf/Suitcase/100249/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..11a467d114cb9ce6cfb2c18e552d452e9d8d0f61
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "100249",
+    "scale": 0.3,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.17364999651908875,
+                        0.9848099946975708,
+                        -0.0,
+                        0.03911999985575676
+                    ],
+                    [
+                        0.9810600280761719,
+                        -0.17298999428749084,
+                        -0.08715999871492386,
+                        0.08927000313997269
+                    ],
+                    [
+                        -0.08583000302314758,
+                        0.015130000188946724,
+                        -0.9961900115013123,
+                        0.7961199879646301
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.2594200074672699,
+                        0.9656500220298767,
+                        -0.015130000188946724,
+                        0.03736000135540962
+                    ],
+                    [
+                        0.9625300168991089,
+                        -0.2572399973869324,
+                        0.08583000302314758,
+                        -0.12289000302553177
+                    ],
+                    [
+                        0.07898999750614166,
+                        -0.03683000057935715,
+                        -0.9961900115013123,
+                        0.7989799976348877
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100249/meta.json b/assets/urdf/Suitcase/100249/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d714d83ab39ac9ac046b0bfe21f693c6644f9c3
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Suitcase", "model_id": "1b7eab0f-98af-49fd-a5f1-82c4f3598f62", "version": "1", "anno_id": "249", "time_in_sec": "138"}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100249/mobility.urdf b/assets/urdf/Suitcase/100249/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..10b18db85cb01433c2fba9eb8b63992f27540cb5
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/mobility.urdf
@@ -0,0 +1,452 @@
+<?xml version="1.0" ?>
+<robot name="partnet_1b7eab0f-98af-49fd-a5f1-82c4f3598f62">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="handle-3">
+			<origin xyz="0 -0.5735385 0.042834000000000004"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.5735385 0.042834000000000004"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.5735385 -0.042834000000000004"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-1.0471975511965976" upper="1.0471975511965976"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lock-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.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-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-33.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-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-27.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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.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-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.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-24.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-7.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-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Suitcase/100249/mobility_v2.json b/assets/urdf/Suitcase/100249/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a802ec08f38f270388a5005b58c95daaa0a2040
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"handle","parts":[{"id":3,"name":"handle"}],"jointData":{"axis":{"origin":[0,0.5735385,-0.042834000000000004],"direction":[1,0,0]},"limit":{"a":60,"b":-60,"noLimit":false}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":1,"name":"lock"},{"id":4,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100249/model_data.json b/assets/urdf/Suitcase/100249/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7c196e81bcedf0cfdce8bf24ae0134c59196506
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/model_data.json
@@ -0,0 +1,96 @@
+{
+    "scale": 0.3,
+    "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": [
+                    [
+                        0.17364999651908875,
+                        0.9848099946975708,
+                        -0.0,
+                        0.03911999985575676
+                    ],
+                    [
+                        0.9810600280761719,
+                        -0.17298999428749084,
+                        -0.08715999871492386,
+                        0.08927000313997269
+                    ],
+                    [
+                        -0.08583000302314758,
+                        0.015130000188946724,
+                        -0.9961900115013123,
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+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100249/result.json b/assets/urdf/Suitcase/100249/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a8a27d2fee468a80d91e1e72fc79f35846c3211
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/result.json
@@ -0,0 +1 @@
+[{"text": "Suitcase", "name": "Suitcase", "id": 0, "children": [{"text": "lock", "name": "lock", "id": 1, "objs": ["original-2"]}, {"text": "handle", "name": "handle", "id": 3, "objs": ["original-35"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-29", "original-21", "original-30", "original-36", "original-28", "original-22", "original-26", "original-4", "original-3", "original-33", "original-16", "original-8", "original-13", "original-9", "original-39", "original-5", "original-27", "original-6", "original-31", "original-15", "original-23", "original-11", "original-38", "original-34", "original-18", "original-25", "original-17", "original-12", "original-24", "original-32", "original-7", "original-10", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100249/result_original.json b/assets/urdf/Suitcase/100249/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b0fe65700c064ad7a5d87bf01ff27af3d34b116
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Suitcase", "text": "Suitcase", "children": [{"id": 1, "name": "lock", "text": "lock", "objs": ["original-2"]}, {"id": 3, "name": "handle", "text": "handle", "objs": ["original-35"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100249/semantics.txt b/assets/urdf/Suitcase/100249/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1dd133e355f6a0403facdc4860583fd4892fbaec
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotation_handle
+link_1 free suitcase_body
diff --git a/assets/urdf/Suitcase/100249/textured_objs/original-10.obj b/assets/urdf/Suitcase/100249/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..770e38151cf7c2ffaeee787d3f19947cb9df0517
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/textured_objs/original-10.obj
@@ -0,0 +1,1477 @@
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diff --git a/assets/urdf/Suitcase/100249/textured_objs/original-11.mtl b/assets/urdf/Suitcase/100249/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8ee73ad4a10d2193de5ac9aa69aa06e8f3678ddc
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4666666666666667 0.4666666666666667 0.4666666666666667 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Suitcase/100249/textured_objs/original-11.obj b/assets/urdf/Suitcase/100249/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed75a2f13bb84663776ea86bfc55d182fd2e47b7
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/textured_objs/original-11.obj
@@ -0,0 +1,1477 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
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index 0000000000000000000000000000000000000000..8ee73ad4a10d2193de5ac9aa69aa06e8f3678ddc
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diff --git a/assets/urdf/Suitcase/100249/textured_objs/original-21.mtl b/assets/urdf/Suitcase/100249/textured_objs/original-21.mtl
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index 0000000000000000000000000000000000000000..e50b585935500f6f21ae9179a0b6fce2ad266f6c
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diff --git a/assets/urdf/Suitcase/100249/textured_objs/original-22.obj b/assets/urdf/Suitcase/100249/textured_objs/original-22.obj
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index 0000000000000000000000000000000000000000..027594dde8cc021490f84c0d29c90c509bfde31d
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diff --git a/assets/urdf/Suitcase/100249/textured_objs/original-24.mtl b/assets/urdf/Suitcase/100249/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e50b585935500f6f21ae9179a0b6fce2ad266f6c
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Suitcase/100249/textured_objs/original-26.obj b/assets/urdf/Suitcase/100249/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efbbf0521efd6b58fd690ee86503f20b742071ce
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/textured_objs/original-26.obj
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diff --git a/assets/urdf/Suitcase/100249/textured_objs/original-27.obj b/assets/urdf/Suitcase/100249/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba2731be2c84f42067ae150021cd57d53a53f988
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/textured_objs/original-27.obj
@@ -0,0 +1,1629 @@
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diff --git a/assets/urdf/Suitcase/100249/textured_objs/original-28.obj b/assets/urdf/Suitcase/100249/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c5573acffd190b367e4698abdc15b2d013c790e
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/textured_objs/original-28.obj
@@ -0,0 +1,2013 @@
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diff --git a/assets/urdf/Suitcase/100249/textured_objs/original-30.mtl b/assets/urdf/Suitcase/100249/textured_objs/original-30.mtl
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index 0000000000000000000000000000000000000000..e50b585935500f6f21ae9179a0b6fce2ad266f6c
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--- /dev/null
+++ b/assets/urdf/Suitcase/100249/textured_objs/original-30.obj
@@ -0,0 +1,5277 @@
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diff --git a/assets/urdf/Suitcase/100249/textured_objs/original-5.mtl b/assets/urdf/Suitcase/100249/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8ee73ad4a10d2193de5ac9aa69aa06e8f3678ddc
--- /dev/null
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diff --git a/assets/urdf/Suitcase/100249/textured_objs/original-5.obj b/assets/urdf/Suitcase/100249/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a974594a5b8eca9be83ab04b4802157b20daa0e
--- /dev/null
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diff --git a/assets/urdf/Suitcase/100249/textured_objs/original-6.obj b/assets/urdf/Suitcase/100249/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f84205cecaf73abae2703e1cfb37f206aa22d00d
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/textured_objs/original-6.obj
@@ -0,0 +1,561 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o #ID31
+v 0.606230 -0.589312 0.124345
+v 0.606230 -0.581929 0.126324
+v 0.606230 -0.589312 0.139109
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diff --git a/assets/urdf/Suitcase/100249/textured_objs/original-9.obj b/assets/urdf/Suitcase/100249/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e196bc1248f8eb5ba8f69309e8f925a77829acc7
--- /dev/null
+++ b/assets/urdf/Suitcase/100249/textured_objs/original-9.obj
@@ -0,0 +1,561 @@
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diff --git a/assets/urdf/Suitcase/100550/bounding_box.json b/assets/urdf/Suitcase/100550/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..884a95d4ea1bf3e331b03e523566ace9ba891a9b
--- /dev/null
+++ b/assets/urdf/Suitcase/100550/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.794937, -0.675229, -0.263186], "max": [0.817183, 0.730897, 0.274187]}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100550/grasp_poses.json b/assets/urdf/Suitcase/100550/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..e116c7e649bf455c5cfe31671bfe1025275f865d
--- /dev/null
+++ b/assets/urdf/Suitcase/100550/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "100550",
+    "scale": 0.3,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
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+                    [
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+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
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+                    [
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+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100550/meta.json b/assets/urdf/Suitcase/100550/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8713e9a7c0e65b96def42348a94aa9f8c678904a
--- /dev/null
+++ b/assets/urdf/Suitcase/100550/meta.json
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+{"user_id": "kent0318", "model_cat": "Suitcase", "model_id": "5f3af8ff93de34c9e7922afdefd88b6e", "version": "2", "anno_id": "550", "time_in_sec": "240"}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100550/mobility.urdf b/assets/urdf/Suitcase/100550/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7229bf37cce344f45b890c8982a4b8dd04afe9f0
--- /dev/null
+++ b/assets/urdf/Suitcase/100550/mobility.urdf
@@ -0,0 +1,197 @@
+<?xml version="1.0" ?>
+<robot name="partnet_5f3af8ff93de34c9e7922afdefd88b6e">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-2">
+			<origin xyz="-0.8143676035482663 0.6343406600551952 -0.06201784943753655"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="-0.8143676035482663 0.6343406600551952 -0.06201784943753655"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="-0.8143676035482663 0.6343406600551952 -0.06201784943753655"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.8143676035482663 0.6343406600551952 -0.06201784943753655"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.8143676035482663 0.6343406600551952 -0.06201784943753655"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.8143676035482663 0.6343406600551952 -0.06201784943753655"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.8143676035482663 -0.6343406600551952 0.06201784943753655"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-3">
+			<origin xyz="0 -0.6313357057189349 -0.0006222498691640784"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.6313357057189349 -0.0006222498691640784"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0 0.6313357057189349 0.0006222498691640784"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-1.2217304763960306" upper="1.2217304763960306"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<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-4.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-13.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-11.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_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/Suitcase/100550/mobility_v2.json b/assets/urdf/Suitcase/100550/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d846788eb4935dac4139f78f669c745a76b07b8
--- /dev/null
+++ b/assets/urdf/Suitcase/100550/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"hinge","name":"lid","parts":[{"id":2,"name":"lid"}],"jointData":{"axis":{"origin":[0.8143676035482663,-0.6343406600551952,0.06201784943753655],"direction":[1,0,0]},"limit":{"a":0,"b":90,"noLimit":false}}},{"id":1,"parent":2,"joint":"hinge","name":"handle","parts":[{"id":3,"name":"handle"}],"jointData":{"axis":{"origin":[0,0.6313357057189349,0.0006222498691640784],"direction":[1,0,0]},"limit":{"a":70,"b":-70,"noLimit":false}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":4,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100550/model_data.json b/assets/urdf/Suitcase/100550/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cf55306e9925ba8b5593a45a5fceaab4db23072
--- /dev/null
+++ b/assets/urdf/Suitcase/100550/model_data.json
@@ -0,0 +1,96 @@
+{
+    "scale": 0.3,
+    "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": [
+                    [
+                        -0.03044999949634075,
+                        -0.9954000115394592,
+                        0.09088999778032303,
+                        0.0
+                    ],
+                    [
+                        -0.9912599921226501,
+                        0.018400000408291817,
+                        -0.1306000053882599,
+                        0.10000000149011612
+                    ],
+                    [
+                        0.12833000719547272,
+                        -0.09407000243663788,
+                        -0.9872599840164185,
+                        0.7333300113677979
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.10000000149011612
+                    ],
+                    [
+                        0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        0.7333300113677979
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100550/result.json b/assets/urdf/Suitcase/100550/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe0b99162c9da2cf26c48909b0537c571da0f287
--- /dev/null
+++ b/assets/urdf/Suitcase/100550/result.json
@@ -0,0 +1 @@
+[{"text": "Suitcase", "name": "Suitcase", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 2, "objs": ["original-10", "original-3", "original-9"]}, {"text": "handle", "name": "handle", "id": 3, "objs": ["original-12"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-4", "original-2", "original-8", "original-13", "original-5", "original-6", "original-11", "original-7", "original-1", "original-14"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100550/result_original.json b/assets/urdf/Suitcase/100550/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bbed61ac2cde96fb0a6a8520a7994b703ef5a31
--- /dev/null
+++ b/assets/urdf/Suitcase/100550/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Suitcase", "text": "Suitcase", "children": [{"id": 2, "name": "lid", "text": "lid", "objs": ["original-10", "original-3", "original-9"]}, {"id": 3, "name": "handle", "text": "handle", "objs": ["original-12"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100550/semantics.txt b/assets/urdf/Suitcase/100550/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ca1e6a68aa3e83a8b48ea9ca81bfb62a560c6d2f
--- /dev/null
+++ b/assets/urdf/Suitcase/100550/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge lid
+link_1 hinge rotation_handle
+link_2 free suitcase_body
diff --git a/assets/urdf/Suitcase/100767/bounding_box.json b/assets/urdf/Suitcase/100767/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..4793c1a3fedd75ea267ccabd53d63af4ec0f3fae
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.898681, -0.535822, -0.282294], "max": [0.887961, 0.621431, 0.252629]}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100767/grasp_poses.json b/assets/urdf/Suitcase/100767/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7467a76bd23387da4e620e5442fcb717a6c093e
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "100767",
+    "scale": 0.3,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.1647299975156784,
+                        0.9810600280761719,
+                        -0.10189999639987946,
+                        0.035610001534223557
+                    ],
+                    [
+                        0.9684500098228455,
+                        0.18047000467777252,
+                        0.17188000679016113,
+                        0.003120000008493662
+                    ],
+                    [
+                        0.18702000379562378,
+                        -0.07037000358104706,
+                        -0.9798300266265869,
+                        0.6307299733161926
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100767/meta.json b/assets/urdf/Suitcase/100767/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2db5199a2d598ad3cf636893b842344aa85f238a
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Suitcase", "model_id": "68bd5b1de909e4b453048412b629ef93", "version": "1", "anno_id": "767", "time_in_sec": "252"}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100767/mobility.urdf b/assets/urdf/Suitcase/100767/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aee0dbe5459cec8c84ac22c5469e81aa01bc98d7
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/mobility.urdf
@@ -0,0 +1,359 @@
+<?xml version="1.0" ?>
+<robot name="partnet_68bd5b1de909e4b453048412b629ef93">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lock-1">
+			<origin xyz="-0.36469438654365083 -0.5239202037801709 0.1253774860624617"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lock-1">
+			<origin xyz="-0.36469438654365083 -0.5239202037801709 0.1253774860624617"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.36469438654365083 -0.5239202037801709 0.1253774860624617"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.36469438654365083 -0.5239202037801709 0.1253774860624617"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.36469438654365083 0.5239202037801709 -0.1253774860624617"/>
+		<axis xyz="-0.9967029731473439 0.010457515263668636 0.08046007515380252"/>
+		<child link="link_0"/>
+		<parent link="link_4"/>
+		<limit lower="-0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lock-2">
+			<origin xyz="-0.36469438654365083 -0.5239202037801709 0.1253774860624617"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lock-2">
+			<origin xyz="-0.36469438654365083 -0.5239202037801709 0.1253774860624617"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.36469438654365083 -0.5239202037801709 0.1253774860624617"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.36469438654365083 -0.5239202037801709 0.1253774860624617"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.36469438654365083 0.5239202037801709 -0.1253774860624617"/>
+		<axis xyz="-0.9967029731473439 0.010457515263668636 0.08046007515380252"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+		<limit lower="-0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_2">
+		<visual name="handle-3">
+			<origin xyz="-0.3710744537422682 -0.5270393530438988 0.046749503393872585"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3710744537422682 -0.5270393530438988 0.046749503393872585"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="0.3710744537422682 0.5270393530438988 -0.046749503393872585"/>
+		<axis xyz="-0.9967029731473439 0.010457515263668636 0.08046007515380252"/>
+		<child link="link_2"/>
+		<parent link="link_4"/>
+		<limit lower="-0.7853981633974483" upper="0.7853981633974483"/>
+	</joint>
+	<link name="link_3">
+		<visual name="lid-4">
+			<origin xyz="0.8818298430566331 0.519508153179262 -0.1251962844237857"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.8818298430566331 0.519508153179262 -0.1251962844237857"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="revolute">
+		<origin xyz="-0.8818298430566331 -0.519508153179262 0.1251962844237857"/>
+		<axis xyz="0.9966998409345532 -0.010343326081212443 -0.08051361801965017"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+		<limit lower="0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_4">
+		<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-21.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-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.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-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.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-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.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-20.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-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Suitcase/100767/mobility_v2.json b/assets/urdf/Suitcase/100767/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f6a519235d96cf588716bd3b6eb2305c1615cd1
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 4, "joint": "hinge", "name": "lock", "parts": [{"id": 1, "name": "lock", "children": []}], "jointData": {"axis": {"origin": [0.36469438654365083, 0.5239202037801709, -0.1253774860624617], "direction": [0.9967029731473439, -0.010457515263668636, -0.08046007515380252]}, "limit": {"a": 0, "b": -180, "noLimit": false}}}, {"id": 1, "parent": 4, "joint": "hinge", "name": "lock", "parts": [{"id": 2, "name": "lock", "children": []}], "jointData": {"axis": {"origin": [0.36469438654365083, 0.5239202037801709, -0.1253774860624617], "direction": [0.9967029731473439, -0.010457515263668636, -0.08046007515380252]}, "limit": {"a": 0, "b": -180, "noLimit": false}}}, {"id": 2, "parent": 4, "joint": "hinge", "name": "handle", "parts": [{"id": 3, "name": "handle", "children": []}], "jointData": {"axis": {"origin": [0.3710744537422682, 0.5270393530438988, -0.046749503393872585], "direction": [0.9967029731473439, -0.010457515263668636, -0.08046007515380252]}, "limit": {"a": 45, "b": -45, "noLimit": false}}}, {"id": 3, "parent": 4, "joint": "hinge", "name": "lid", "parts": [{"id": 4, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [-0.8818298430566331, -0.519508153179262, 0.1251962844237857], "direction": [0.9966998409345532, -0.010343326081212443, -0.08051361801965017]}, "limit": {"a": 0, "b": 180, "noLimit": false}}}, {"id": 4, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100767/model_data.json b/assets/urdf/Suitcase/100767/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..30f003002e6139026bbe6bb19057398d0449e576
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 0.3,
+    "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": [
+                    [
+                        -0.1647299975156784,
+                        0.9810600280761719,
+                        -0.10189999639987946,
+                        0.035610001534223557
+                    ],
+                    [
+                        0.9684500098228455,
+                        0.18047000467777252,
+                        0.17188000679016113,
+                        0.003120000008493662
+                    ],
+                    [
+                        0.18702000379562378,
+                        -0.07037000358104706,
+                        -0.9798300266265869,
+                        0.6307299733161926
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100767/result.json b/assets/urdf/Suitcase/100767/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d51f747d87981e6ef531b3ecd832e7afc9f9eb6e
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/result.json
@@ -0,0 +1 @@
+[{"text": "Suitcase", "name": "Suitcase", "id": 0, "children": [{"text": "lock", "name": "lock", "id": 1, "objs": ["original-24", "original-25"]}, {"text": "lock", "name": "lock", "id": 2, "objs": ["original-28", "original-27"]}, {"text": "handle", "name": "handle", "id": 3, "objs": ["original-32"]}, {"text": "lid", "name": "lid", "id": 4, "objs": ["original-1"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-29", "original-21", "original-30", "original-3", "original-2", "original-16", "original-8", "original-13", "original-9", "original-5", "original-6", "original-31", "original-15", "original-18", "original-17", "original-12", "original-20", "original-10", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100767/result_original.json b/assets/urdf/Suitcase/100767/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..17518ef32eb79fb4af88503684813465fd075b48
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Suitcase", "text": "Suitcase", "children": [{"id": 1, "name": "lock", "text": "lock", "objs": ["original-24", "original-25"]}, {"id": 2, "name": "lock", "text": "lock", "objs": ["original-28", "original-27"]}, {"id": 3, "name": "handle", "text": "handle", "objs": ["original-32"]}, {"id": 4, "name": "lid", "text": "lid", "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100767/semantics.txt b/assets/urdf/Suitcase/100767/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..763ab49df7c2321df0f4d4f4c8848b46487eb177
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge lock
+link_1 hinge lock
+link_2 hinge rotation_handle
+link_3 hinge lid
+link_4 free suitcase_body
diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-1.mtl b/assets/urdf/Suitcase/100767/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..88c2a2938d27b9370d2825b684d9dbaba7aff6dc
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-1.mtl
@@ -0,0 +1,30 @@
+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 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_3_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/Suitcase/100767/textured_objs/original-12.obj b/assets/urdf/Suitcase/100767/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81513ebe3d09289679ec5089cbf0240070b866f7
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-12.obj
@@ -0,0 +1,527 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-13.mtl b/assets/urdf/Suitcase/100767/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-13.obj b/assets/urdf/Suitcase/100767/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fa24ef24f21a7dca361f1ec5447f7b7b39f4612
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-13.obj
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-14.mtl b/assets/urdf/Suitcase/100767/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-14.obj b/assets/urdf/Suitcase/100767/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c5bbb23e134c6997cd45cd6020b1e1037db4503
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-14.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-15.mtl b/assets/urdf/Suitcase/100767/textured_objs/original-15.mtl
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index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-15.mtl
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-15.obj b/assets/urdf/Suitcase/100767/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e904ce3121839bc5481123e614361a6f8bd0faf
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-15.obj
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-17.mtl b/assets/urdf/Suitcase/100767/textured_objs/original-17.mtl
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index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-18.mtl b/assets/urdf/Suitcase/100767/textured_objs/original-18.mtl
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index 0000000000000000000000000000000000000000..2816f828f5db8eda1fcc5f6f031541d15c1f074a
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-18.obj b/assets/urdf/Suitcase/100767/textured_objs/original-18.obj
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index 0000000000000000000000000000000000000000..6c004e9859757aa08e531a1e023191df69546f60
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-19.obj b/assets/urdf/Suitcase/100767/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3868515359d69f292cf92ed51ac5e4e9a26647f
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-19.obj
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-2.mtl b/assets/urdf/Suitcase/100767/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-20.obj b/assets/urdf/Suitcase/100767/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f490951a7de9d9628eaaf27124c9e2f9e94cd61
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-20.obj
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-21.mtl b/assets/urdf/Suitcase/100767/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6341cad7e019e7e7d4ddad06b78224a1a93deb0a
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-21.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-21.obj b/assets/urdf/Suitcase/100767/textured_objs/original-21.obj
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index 0000000000000000000000000000000000000000..85ccecb7d042cc73651c32418ccff577a1cae6af
--- /dev/null
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-24.obj b/assets/urdf/Suitcase/100767/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..872a04222911e3018f0b99d3a5b3cebd5543b06b
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-24.obj
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-25.mtl b/assets/urdf/Suitcase/100767/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-25.mtl
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-25.obj b/assets/urdf/Suitcase/100767/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a77a0354542f9e6314b927b59f264500c63958
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-25.obj
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-27.mtl b/assets/urdf/Suitcase/100767/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-27.obj b/assets/urdf/Suitcase/100767/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25960f5c97bdd9a842d1964766f4c9cbd80ed49f
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-27.obj
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-28.mtl b/assets/urdf/Suitcase/100767/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-29.obj b/assets/urdf/Suitcase/100767/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2f40429a1bc23e7fabc847dc7c91731dff9892f
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-29.obj
@@ -0,0 +1,9022 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-3.obj b/assets/urdf/Suitcase/100767/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f96ea961bf4c79003f062314e7a327fa4d69856b
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-3.obj
@@ -0,0 +1,2772 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-31.mtl b/assets/urdf/Suitcase/100767/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00b70f40f8431207bf332a43032a1c4358d5e712
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-31.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/Suitcase/100767/textured_objs/original-32.obj b/assets/urdf/Suitcase/100767/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47db5170332a6db28799f1f103f716567219e3bf
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-32.obj
@@ -0,0 +1,3554 @@
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-6.mtl b/assets/urdf/Suitcase/100767/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6341cad7e019e7e7d4ddad06b78224a1a93deb0a
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-6.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+d 1
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+
diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-8.mtl b/assets/urdf/Suitcase/100767/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b39529bc2eac64fc5a94a6fe404c677e96440a7
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-8.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-8.obj b/assets/urdf/Suitcase/100767/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..820e28422a4dbf726f0930d95093435cd226f5d5
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-8.obj
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+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
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+f 220//30 210//30 193//30
+f 212//56 217//56 220//56
+f 210//18 214//18 217//18
+f 210//56 220//56 217//56
+usemtl material_2_0
+f 9//57 16//57 6//57
+f 6//57 16//57 23//58
+f 23//58 16//57 33//58
+f 33//58 16//57 44//57
+f 33//58 45//59 23//58
+f 44//57 16//57 55//57
+f 57//59 23//58 45//59
+f 46//59 23//58 59//59
+f 69//57 55//57 16//57
+f 72//59 23//58 57//59
+f 59//59 23//58 75//59
+f 68//60 86//60 16//60
+f 69//60 16//60 88//60
+f 93//59 23//58 72//59
+f 75//59 23//58 93//59
+f 86//60 107//61 16//60
+f 110//60 88//60 16//60
+f 107//61 128//61 16//60
+f 128//61 110//60 16//60
+f 128//61 107//61 150//62
+f 149//62 165//62 107//61
+f 166//62 150//62 107//61
+f 165//62 180//62 107//61
+f 182//62 166//62 107//61
+f 180//62 192//62 107//61
+f 192//62 182//62 107//61
diff --git a/assets/urdf/Suitcase/100767/textured_objs/original-9.mtl b/assets/urdf/Suitcase/100767/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b39529bc2eac64fc5a94a6fe404c677e96440a7
--- /dev/null
+++ b/assets/urdf/Suitcase/100767/textured_objs/original-9.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 4
+d 0.5
+Ns 30
+Kd 0.39215686274509803 0.5843137254901961 0.9294117647058824 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Suitcase/100776/bounding_box.json b/assets/urdf/Suitcase/100776/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fcade04a67eed57ed3cc0eb4cbe6ac50bd25f65
--- /dev/null
+++ b/assets/urdf/Suitcase/100776/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.747161, -0.672609, -0.271707], "max": [0.825695, 0.638518, 0.252578]}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100776/grasp_poses.json b/assets/urdf/Suitcase/100776/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..24a4d826188574a5c34c5e6b3cacdf7c1c02337b
--- /dev/null
+++ b/assets/urdf/Suitcase/100776/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "100776",
+    "scale": 0.3,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.08715999871492386,
+                        -0.9923999905586243,
+                        0.08681999891996384,
+                        -0.06375999748706818
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.08681999891996384,
+                        -0.007600000128149986,
+                        0.03320999816060066
+                    ],
+                    [
+                        -0.0,
+                        -0.08715999871492386,
+                        -0.9961900115013123,
+                        0.666670024394989
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.08748000115156174,
+                        0.9924600124359131,
+                        0.08583000302314758,
+                        -0.0666700005531311
+                    ],
+                    [
+                        0.9961400032043457,
+                        -0.08649999648332596,
+                        -0.015130000188946724,
+                        -0.13333000242710114
+                    ],
+                    [
+                        -0.007600000128149986,
+                        0.08681999891996384,
+                        -0.9961900115013123,
+                        0.666670024394989
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100776/meta.json b/assets/urdf/Suitcase/100776/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b59f871b2b98cc1b2b3f9a3d0b122c75f2a2ecdf
--- /dev/null
+++ b/assets/urdf/Suitcase/100776/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Suitcase", "model_id": "96325740-43a4-4d91-8301-8cac91428698", "version": "2", "anno_id": "776", "time_in_sec": "69"}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100776/mobility.urdf b/assets/urdf/Suitcase/100776/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bc2cc146deadaeb6da76963df08a07879db2a4e8
--- /dev/null
+++ b/assets/urdf/Suitcase/100776/mobility.urdf
@@ -0,0 +1,215 @@
+<?xml version="1.0" ?>
+<robot name="partnet_96325740-43a4-4d91-8301-8cac91428698">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="handle-1">
+			<origin xyz="-0.24199100000000007 -0.6190739312791156 0.008863188576718584"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.24199100000000007 -0.6190739312791156 0.008863188576718584"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.24199100000000007 0.6190739312791156 -0.008863188576718584"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_4"/>
+		<limit lower="-0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lock-2">
+			<origin xyz="-0.5638830000000001 -0.6140162935418205 0.10098945949062198"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5638830000000001 -0.6140162935418205 0.10098945949062198"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.5638830000000001 0.6140162935418205 -0.10098945949062198"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+		<limit lower="-0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_2">
+		<visual name="lock-3">
+			<origin xyz="-0.5638830000000001 -0.6140162935418205 0.10098945949062198"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5638830000000001 -0.6140162935418205 0.10098945949062198"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="0.5638830000000001 0.6140162935418205 -0.10098945949062198"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_4"/>
+		<limit lower="-0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_3">
+		<visual name="lid-4">
+			<origin xyz="-0.5638830000000001 0.6355493775357086 -0.053726220875294516"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-4">
+			<origin xyz="-0.5638830000000001 0.6355493775357086 -0.053726220875294516"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-4">
+			<origin xyz="-0.5638830000000001 0.6355493775357086 -0.053726220875294516"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5638830000000001 0.6355493775357086 -0.053726220875294516"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5638830000000001 0.6355493775357086 -0.053726220875294516"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5638830000000001 0.6355493775357086 -0.053726220875294516"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="revolute">
+		<origin xyz="0.5638830000000001 -0.6355493775357086 0.053726220875294516"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+		<limit lower="0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_4">
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<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-2.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-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-11.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_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Suitcase/100776/mobility_v2.json b/assets/urdf/Suitcase/100776/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..60e118c2268292cf36655210522baf1ed5af5d85
--- /dev/null
+++ b/assets/urdf/Suitcase/100776/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 4, "joint": "hinge", "name": "handle", "parts": [{"id": 1, "name": "handle", "children": []}], "jointData": {"axis": {"origin": [0.24199100000000007, 0.6190739312791156, -0.008863188576718584], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -180, "noLimit": false}}}, {"id": 1, "parent": 4, "joint": "hinge", "name": "lock", "parts": [{"id": 2, "name": "lock", "children": []}], "jointData": {"axis": {"origin": [0.5638830000000001, 0.6140162935418205, -0.10098945949062198], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -180, "noLimit": false}}}, {"id": 2, "parent": 4, "joint": "hinge", "name": "lock", "parts": [{"id": 3, "name": "lock", "children": []}], "jointData": {"axis": {"origin": [0.5638830000000001, 0.6140162935418205, -0.10098945949062198], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -180, "noLimit": false}}}, {"id": 3, "parent": 4, "joint": "hinge", "name": "lid", "parts": [{"id": 4, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0.5638830000000001, -0.6355493775357086, 0.053726220875294516], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 180, "noLimit": false}}}, {"id": 4, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100776/model_data.json b/assets/urdf/Suitcase/100776/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff25beaac17559a10258dddfe5c00a868775e488
--- /dev/null
+++ b/assets/urdf/Suitcase/100776/model_data.json
@@ -0,0 +1,96 @@
+{
+    "scale": 0.3,
+    "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": [
+                    [
+                        -0.08715999871492386,
+                        -0.9923999905586243,
+                        0.08681999891996384,
+                        -0.06375999748706818
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.08681999891996384,
+                        -0.007600000128149986,
+                        0.03320999816060066
+                    ],
+                    [
+                        -0.0,
+                        -0.08715999871492386,
+                        -0.9961900115013123,
+                        0.666670024394989
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.08748000115156174,
+                        0.9924600124359131,
+                        0.08583000302314758,
+                        -0.0666700005531311
+                    ],
+                    [
+                        0.9961400032043457,
+                        -0.08649999648332596,
+                        -0.015130000188946724,
+                        -0.13333000242710114
+                    ],
+                    [
+                        -0.007600000128149986,
+                        0.08681999891996384,
+                        -0.9961900115013123,
+                        0.666670024394989
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100776/result.json b/assets/urdf/Suitcase/100776/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..290f48a9c8590d3b5cc66a80d04185f6483fc940
--- /dev/null
+++ b/assets/urdf/Suitcase/100776/result.json
@@ -0,0 +1 @@
+[{"text": "Suitcase", "name": "Suitcase", "id": 0, "children": [{"text": "handle", "name": "handle", "id": 1, "objs": ["original-12"]}, {"text": "lock", "name": "lock", "id": 2, "objs": ["original-4"]}, {"text": "lock", "name": "lock", "id": 3, "objs": ["original-8"]}, {"text": "lid", "name": "lid", "id": 4, "objs": ["original-10", "original-9", "original-3"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-2", "original-13", "original-5", "original-6", "original-11", "original-7", "original-1", "original-14"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100776/result_original.json b/assets/urdf/Suitcase/100776/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..a742cb7c5057eab39294e259df39c088f9c7f384
--- /dev/null
+++ b/assets/urdf/Suitcase/100776/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Suitcase", "text": "Suitcase", "children": [{"id": 1, "name": "handle", "text": "handle", "objs": ["original-12"]}, {"id": 2, "name": "lock", "text": "lock", "objs": ["original-4"]}, {"id": 3, "name": "lock", "text": "lock", "objs": ["original-8"]}, {"id": 4, "name": "lid", "text": "lid", "objs": ["original-10", "original-9", "original-3"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100776/semantics.txt b/assets/urdf/Suitcase/100776/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2cb49030397647dc003373e341581ac91ae7fbd9
--- /dev/null
+++ b/assets/urdf/Suitcase/100776/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge rotation_handle
+link_1 hinge lock
+link_2 hinge lock
+link_3 hinge lid
+link_4 free suitcase_body
diff --git a/assets/urdf/Suitcase/100825/bounding_box.json b/assets/urdf/Suitcase/100825/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eef1711b8db3286cd5f92c50fc353a6a12fdb46
--- /dev/null
+++ b/assets/urdf/Suitcase/100825/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.846137, -0.598129, -0.303807], "max": [0.861166, 0.792928, 0.326446]}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100825/grasp_poses.json b/assets/urdf/Suitcase/100825/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..b88bb2e82619b6edd5b6ee858fa8a45f9af21bef
--- /dev/null
+++ b/assets/urdf/Suitcase/100825/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "100825",
+    "scale": 0.3,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.15737999975681305,
+                        0.9848099946975708,
+                        0.07338999956846237,
+                        0.0
+                    ],
+                    [
+                        0.8925399780273438,
+                        0.17364999651908875,
+                        -0.41620001196861267,
+                        0.23332999646663666
+                    ],
+                    [
+                        -0.4226199984550476,
+                        -0.0,
+                        -0.9063100218772888,
+                        0.7666699886322021
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.0,
+                        -1.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -0.8660299777984619,
+                        -0.0,
+                        0.5,
+                        -0.16666999459266663
+                    ],
+                    [
+                        -0.5,
+                        -0.0,
+                        -0.8660299777984619,
+                        0.7666699886322021
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100825/meta.json b/assets/urdf/Suitcase/100825/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78b70ea478cb1353ac007d819de0767315af4955
--- /dev/null
+++ b/assets/urdf/Suitcase/100825/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Suitcase", "model_id": "c5c0f63f94ddf4c258d149fbd24761c4", "version": "1", "anno_id": "825", "time_in_sec": "90"}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100825/mobility.urdf b/assets/urdf/Suitcase/100825/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..75fce5c523711d50017c2ce37c49b69b2bbd4131
--- /dev/null
+++ b/assets/urdf/Suitcase/100825/mobility.urdf
@@ -0,0 +1,404 @@
+<?xml version="1.0" ?>
+<robot name="partnet_c5c0f63f94ddf4c258d149fbd24761c4">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="handle-3">
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-3">
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-3">
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-3">
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-3">
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-3">
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-3">
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-3">
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.6126944023788576 0.007699372097849846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.6126944023788576 -0.007699372097849846"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-1.0471975511965976" upper="1.0471975511965976"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lock-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.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-22.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-16.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-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.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-27.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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.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-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Suitcase/100825/mobility_v2.json b/assets/urdf/Suitcase/100825/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcfd57b762b5db2e85a24cfaa6b7d4a4910a39b4
--- /dev/null
+++ b/assets/urdf/Suitcase/100825/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"handle","parts":[{"id":3,"name":"handle"}],"jointData":{"axis":{"origin":[0,0.6126944023788576,-0.007699372097849846],"direction":[1,0,0]},"limit":{"a":60,"b":-60,"noLimit":false}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":1,"name":"lock"},{"id":4,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100825/model_data.json b/assets/urdf/Suitcase/100825/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..afe6e42bf52a2f23c286a683c5b00d1f7304f768
--- /dev/null
+++ b/assets/urdf/Suitcase/100825/model_data.json
@@ -0,0 +1,96 @@
+{
+    "scale": 0.3,
+    "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": [
+                    [
+                        -0.15737999975681305,
+                        0.9848099946975708,
+                        0.07338999956846237,
+                        0.0
+                    ],
+                    [
+                        0.8925399780273438,
+                        0.17364999651908875,
+                        -0.41620001196861267,
+                        0.23332999646663666
+                    ],
+                    [
+                        -0.4226199984550476,
+                        -0.0,
+                        -0.9063100218772888,
+                        0.7666699886322021
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.0,
+                        -1.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -0.8660299777984619,
+                        -0.0,
+                        0.5,
+                        -0.16666999459266663
+                    ],
+                    [
+                        -0.5,
+                        -0.0,
+                        -0.8660299777984619,
+                        0.7666699886322021
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100825/result.json b/assets/urdf/Suitcase/100825/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..460504fff012ef8210ec97501acd948bdaa35a53
--- /dev/null
+++ b/assets/urdf/Suitcase/100825/result.json
@@ -0,0 +1 @@
+[{"text": "Suitcase", "name": "Suitcase", "id": 0, "children": [{"text": "lock", "name": "lock", "id": 1, "objs": ["original-2"]}, {"text": "handle", "name": "handle", "id": 3, "objs": ["original-31", "original-25", "original-32", "original-28", "original-26", "original-33", "original-10", "original-12"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-29", "original-21", "original-30", "original-22", "original-4", "original-3", "original-16", "original-8", "original-13", "original-9", "original-35", "original-5", "original-27", "original-6", "original-15", "original-23", "original-11", "original-34", "original-18", "original-24", "original-20", "original-7", "original-19"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100825/result_original.json b/assets/urdf/Suitcase/100825/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cc4685fcacc9a7d2826ceb26093a1cfbbf37c6f
--- /dev/null
+++ b/assets/urdf/Suitcase/100825/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Suitcase", "text": "Suitcase", "children": [{"id": 1, "name": "lock", "text": "lock", "objs": ["original-2"]}, {"id": 3, "name": "handle", "text": "handle", "objs": ["original-31", "original-25", "original-32", "original-28", "original-26", "original-33", "original-10", "original-12"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/100825/semantics.txt b/assets/urdf/Suitcase/100825/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1dd133e355f6a0403facdc4860583fd4892fbaec
--- /dev/null
+++ b/assets/urdf/Suitcase/100825/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotation_handle
+link_1 free suitcase_body
diff --git a/assets/urdf/Suitcase/101668/bounding_box.json b/assets/urdf/Suitcase/101668/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..c61142f001a10f212b6e21208422510a1f3c1c4b
--- /dev/null
+++ b/assets/urdf/Suitcase/101668/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.608444, -0.588239, -0.353656], "max": [0.638094, 0.729211, 0.791656]}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101668/grasp_poses.json b/assets/urdf/Suitcase/101668/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..4aab53876c9cd6c3da4c829bc87fdbffa2071029
--- /dev/null
+++ b/assets/urdf/Suitcase/101668/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "101668",
+    "scale": 0.3,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.06063999980688095,
+                        -0.5889899730682373,
+                        -0.8058599829673767,
+                        0.32818999886512756
+                    ],
+                    [
+                        -0.9965900182723999,
+                        0.009530000388622284,
+                        -0.08196000009775162,
+                        -0.10512000322341919
+                    ],
+                    [
+                        0.05595000088214874,
+                        0.8080899715423584,
+                        -0.5863999724388123,
+                        0.7232599854469299
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101668/meta.json b/assets/urdf/Suitcase/101668/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fa0c25ea9373588b19f31490321c7f07da3be15
--- /dev/null
+++ b/assets/urdf/Suitcase/101668/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Suitcase", "model_id": "547ad62bd93988fff0117851f0671fde", "version": "1", "anno_id": "1668", "time_in_sec": "199"}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101668/mobility.urdf b/assets/urdf/Suitcase/101668/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e17275e9a2ac204f292b0550a4eb1d00fd753fe6
--- /dev/null
+++ b/assets/urdf/Suitcase/101668/mobility.urdf
@@ -0,0 +1,515 @@
+<?xml version="1.0" ?>
+<robot name="partnet_547ad62bd93988fff0117851f0671fde">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lock-3">
+			<origin xyz="0.5118554581827808 -0.6353799999999998 0.13112001848779942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lock-3">
+			<origin xyz="0.5118554581827808 -0.6353799999999998 0.13112001848779942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5118554581827808 -0.6353799999999998 0.13112001848779942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.5118554581827808 -0.6353799999999998 0.13112001848779942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="-0.5118554581827808 0.6353799999999998 -0.13112001848779942"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_4"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lock-4">
+			<origin xyz="0.5118554581827808 -0.6353799999999998 0.13112001848779942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lock-4">
+			<origin xyz="0.5118554581827808 -0.6353799999999998 0.13112001848779942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5118554581827808 -0.6353799999999998 0.13112001848779942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.5118554581827808 -0.6353799999999998 0.13112001848779942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.5118554581827808 0.6353799999999998 -0.13112001848779942"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+		<limit lower="0" upper="0.012"/>
+	</joint>
+	<link name="link_2">
+		<visual name="lid-5">
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-5">
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-5">
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-5">
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-5">
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-5">
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-5">
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-5">
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-5">
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-5">
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-5">
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-5">
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.4702133012073091 0.10592495739692812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="0 -0.4702133012073091 -0.10592495739692812"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_4"/>
+		<limit lower="-0.7853981633974483" upper="2.356194490192345"/>
+	</joint>
+	<link name="link_3">
+		<visual name="handle-6">
+			<origin xyz="-0.6380940000000006 -0.6893612773707587 0.14633417109680275"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.6380940000000006 -0.6893612773707587 0.14633417109680275"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="revolute">
+		<origin xyz="0.6380940000000006 0.6893612773707587 -0.14633417109680275"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+		<limit lower="-0.0" upper="2.8797932657906435"/>
+	</joint>
+	<link name="link_4">
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.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-22.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-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-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-27.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-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-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.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-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>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Suitcase/101668/mobility_v2.json b/assets/urdf/Suitcase/101668/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..0959e905ca2d03c6be08f677e64565f97293e735
--- /dev/null
+++ b/assets/urdf/Suitcase/101668/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":4,"joint":"slider","name":"button","parts":[{"id":3,"name":"lock"}],"jointData":{"axis":{"origin":[-0.5118554581827808,0.6353799999999998,-0.13112001848779942],"direction":[0,-1,0]},"limit":{"a":0,"b":0.01200000000000001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":4,"joint":"slider","name":"button","parts":[{"id":4,"name":"lock"}],"jointData":{"axis":{"origin":[-0.5118554581827808,0.6353799999999998,-0.13112001848779942],"direction":[0,-1,0]},"limit":{"a":0,"b":0.012,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":4,"joint":"hinge","name":"lid","parts":[{"id":5,"name":"lid"}],"jointData":{"axis":{"origin":[0,-0.4702133012073091,-0.10592495739692812],"direction":[1,0,0]},"limit":{"a":-45,"b":135,"noLimit":false}}},{"id":3,"parent":4,"joint":"hinge","name":"handle","parts":[{"id":6,"name":"handle"}],"jointData":{"axis":{"origin":[0.6380940000000006,0.6893612773707587,-0.14633417109680275],"direction":[-1,0,0]},"limit":{"a":0,"b":-165,"noLimit":false}}},{"id":4,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":7,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101668/model_data.json b/assets/urdf/Suitcase/101668/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f2e8ddcda9f3ed11c74011f5cef7711184c6059
--- /dev/null
+++ b/assets/urdf/Suitcase/101668/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 0.3,
+    "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": [
+                    [
+                        0.06063999980688095,
+                        -0.5889899730682373,
+                        -0.8058599829673767,
+                        0.32818999886512756
+                    ],
+                    [
+                        -0.9965900182723999,
+                        0.009530000388622284,
+                        -0.08196000009775162,
+                        -0.10512000322341919
+                    ],
+                    [
+                        0.05595000088214874,
+                        0.8080899715423584,
+                        -0.5863999724388123,
+                        0.7232599854469299
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101668/result.json b/assets/urdf/Suitcase/101668/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..571cd80a4219d4f4093d8b84aa602eef37e4d71b
--- /dev/null
+++ b/assets/urdf/Suitcase/101668/result.json
@@ -0,0 +1 @@
+[{"text": "Suitcase", "name": "Suitcase", "id": 0, "children": [{"text": "lock", "name": "lock", "id": 3, "objs": ["original-24", "original-10"]}, {"text": "lock", "name": "lock", "id": 4, "objs": ["original-23", "original-9"]}, {"text": "lid", "name": "lid", "id": 5, "objs": ["original-29", "original-11", "original-13", "original-30", "original-26", "original-25", "original-33", "original-15", "original-35", "original-16", "original-34", "original-12"]}, {"text": "handle", "name": "handle", "id": 6, "objs": ["original-36"]}, {"text": "base_body", "name": "base_body", "id": 7, "objs": ["original-21", "original-28", "original-22", "original-4", "original-3", "original-2", "original-8", "original-39", "original-5", "original-27", "original-6", "original-31", "original-37", "original-38", "original-18", "original-17", "original-20", "original-32", "original-7", "original-1", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101668/result_original.json b/assets/urdf/Suitcase/101668/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3e25abdfeea617f4bdefe0f38335e2b1b050489
--- /dev/null
+++ b/assets/urdf/Suitcase/101668/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Suitcase", "text": "Suitcase", "children": [{"id": 3, "name": "lock", "text": "lock", "objs": ["original-24", "original-10"]}, {"id": 4, "name": "lock", "text": "lock", "objs": ["original-23", "original-9"]}, {"id": 5, "name": "lid", "text": "lid", "objs": ["original-29", "original-11", "original-13", "original-30", "original-26", "original-25", "original-33", "original-15", "original-35", "original-16", "original-34", "original-12"]}, {"id": 6, "name": "handle", "text": "handle", "objs": ["original-36"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101668/semantics.txt b/assets/urdf/Suitcase/101668/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..838d0372a4a54f2ba26064d6ec8439c9622a27b7
--- /dev/null
+++ b/assets/urdf/Suitcase/101668/semantics.txt
@@ -0,0 +1,5 @@
+link_0 slider button
+link_1 slider button
+link_2 hinge lid
+link_3 hinge rotation_handle
+link_4 free suitcase_body
diff --git a/assets/urdf/Suitcase/101673/bounding_box.json b/assets/urdf/Suitcase/101673/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..accbb8753dd9670d0a117b572b0483332500c4a6
--- /dev/null
+++ b/assets/urdf/Suitcase/101673/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.590817, -0.3878, -0.289413], "max": [0.630702, 1.008937, 0.23615]}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101673/grasp_poses.json b/assets/urdf/Suitcase/101673/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..11ee9c8e84474948ac9c8e47c35fe4d17ae69d9b
--- /dev/null
+++ b/assets/urdf/Suitcase/101673/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "101673",
+    "scale": 0.3,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0487699992954731,
+                        -0.9887499809265137,
+                        -0.14139999449253082,
+                        -0.032510001212358475
+                    ],
+                    [
+                        -0.9422900080680847,
+                        -0.00139999995008111,
+                        0.3348099887371063,
+                        -0.06447000056505203
+                    ],
+                    [
+                        -0.3312399983406067,
+                        0.14957000315189362,
+                        -0.9316200017929077,
+                        1.0240299701690674
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101673/meta.json b/assets/urdf/Suitcase/101673/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bf6baafda3b3ba863fe60b3f8dc8cccb048be6d
--- /dev/null
+++ b/assets/urdf/Suitcase/101673/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Suitcase", "model_id": "83ab18386e87bf4efef598dabc93c115", "version": "1", "anno_id": "1673", "time_in_sec": "16"}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101673/mobility.urdf b/assets/urdf/Suitcase/101673/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..230bbf3ef7a3f6184aba584f5b662e46715bd09d
--- /dev/null
+++ b/assets/urdf/Suitcase/101673/mobility.urdf
@@ -0,0 +1,152 @@
+<?xml version="1.0" ?>
+<robot name="partnet_83ab18386e87bf4efef598dabc93c115">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="handle-1">
+			<origin xyz="-0.6071008788782839 -0.23394889741627845 -0.028473990602806643"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.6071008788782839 -0.23394889741627845 -0.028473990602806643"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.6071008788782839 0.23394889741627845 0.028473990602806643"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-1.5707963267948966" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<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-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-11.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-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Suitcase/101673/mobility_v2.json b/assets/urdf/Suitcase/101673/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..11b9fa214b54b25b70c0a391c4115b1706a56b19
--- /dev/null
+++ b/assets/urdf/Suitcase/101673/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "handle", "parts": [{"id": 1, "name": "handle", "children": []}], "jointData": {"axis": {"origin": [0.6071008788782839, 0.23394889741627845, 0.028473990602806643], "direction": [1, 0, 0]}, "limit": {"a": 90, "b": -90, "noLimit": false}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101673/model_data.json b/assets/urdf/Suitcase/101673/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..8931940895f1cbfb8d01318c93e6500f73c29586
--- /dev/null
+++ b/assets/urdf/Suitcase/101673/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 0.3,
+    "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": [
+                    [
+                        -0.0487699992954731,
+                        -0.9887499809265137,
+                        -0.14139999449253082,
+                        -0.032510001212358475
+                    ],
+                    [
+                        -0.9422900080680847,
+                        -0.00139999995008111,
+                        0.3348099887371063,
+                        -0.06447000056505203
+                    ],
+                    [
+                        -0.3312399983406067,
+                        0.14957000315189362,
+                        -0.9316200017929077,
+                        1.0240299701690674
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101673/result.json b/assets/urdf/Suitcase/101673/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..df84376c5ac81e67e414597ec1b06274ab965f95
--- /dev/null
+++ b/assets/urdf/Suitcase/101673/result.json
@@ -0,0 +1 @@
+[{"text": "Suitcase", "name": "Suitcase", "id": 0, "children": [{"text": "handle", "name": "handle", "id": 1, "objs": ["original-7"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-2", "original-8", "original-9", "original-5", "original-6", "original-11", "original-1", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101673/result_original.json b/assets/urdf/Suitcase/101673/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..c03d89ddb190b4fa1906b1fda324d19ecc8a3c48
--- /dev/null
+++ b/assets/urdf/Suitcase/101673/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Suitcase", "text": "Suitcase", "children": [{"id": 1, "name": "handle", "text": "handle", "objs": ["original-7"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101673/semantics.txt b/assets/urdf/Suitcase/101673/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1dd133e355f6a0403facdc4860583fd4892fbaec
--- /dev/null
+++ b/assets/urdf/Suitcase/101673/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotation_handle
+link_1 free suitcase_body
diff --git a/assets/urdf/Suitcase/101681/bounding_box.json b/assets/urdf/Suitcase/101681/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..12f562ae9345f49a790fdd21503e8f98674c7cec
--- /dev/null
+++ b/assets/urdf/Suitcase/101681/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.665659, -0.487813, -0.206156], "max": [0.686042, 1.024517, 0.20765]}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101681/grasp_poses.json b/assets/urdf/Suitcase/101681/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd59cad97776aa1684e4139602685da73d1b81dd
--- /dev/null
+++ b/assets/urdf/Suitcase/101681/grasp_poses.json
@@ -0,0 +1,194 @@
+{
+    "object_name": "101681",
+    "scale": 0.3,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.21408000588417053,
+                        -0.7087100148200989,
+                        0.6722400188446045,
+                        -0.07727000117301941
+                    ],
+                    [
+                        -0.5250099897384644,
+                        -0.6638200283050537,
+                        -0.5326399803161621,
+                        0.37411999702453613
+                    ],
+                    [
+                        0.8237299919128418,
+                        -0.23890000581741333,
+                        -0.5141900181770325,
+                        0.5877799987792969
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.08190000057220459,
+                        -0.7989400029182434,
+                        0.5958099961280823,
+                        -0.09949000179767609
+                    ],
+                    [
+                        -0.9361199736595154,
+                        0.2668200135231018,
+                        0.2291100025177002,
+                        -0.06131000071763992
+                    ],
+                    [
+                        -0.3420200049877167,
+                        -0.5389800071716309,
+                        -0.7697499990463257,
+                        1.0039900541305542
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        -0.04653000086545944,
+                        -0.9017699956893921,
+                        0.42969000339508057,
+                        -0.04332000017166138
+                    ],
+                    [
+                        -0.8230800032615662,
+                        0.2783600091934204,
+                        0.4950299859046936,
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+                    ],
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+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 3,
+                "matrix": [
+                    [
+                        -0.18300999701023102,
+                        0.9280200004577637,
+                        -0.32447001338005066,
+                        0.06369999796152115
+                    ],
+                    [
+                        0.6830099821090698,
+                        -0.11737000197172165,
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+                        -0.353549987077713,
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+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 4,
+                "matrix": [
+                    [
+                        0.03441999852657318,
+                        -0.909250020980835,
+                        -0.4148299992084503,
+                        0.06808999925851822
+                    ],
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+                        -0.9304500222206116,
+                        0.12234999984502792,
+                        -0.3453800082206726,
+                        0.013460000045597553
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+                    [
+                        0.3647899925708771,
+                        0.3978700041770935,
+                        -0.8417999744415283,
+                        1.027999997138977
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 5,
+                "matrix": [
+                    [
+                        0.11354000121355057,
+                        0.9858800172805786,
+                        -0.12308000028133392,
+                        0.0698700025677681
+                    ],
+                    [
+                        0.3841499984264374,
+                        0.07067999988794327,
+                        0.9205600023269653,
+                        -0.42346999049186707
+                    ],
+                    [
+                        0.9162600040435791,
+                        -0.15181000530719757,
+                        -0.37070000171661377,
+                        0.6754400134086609
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101681/meta.json b/assets/urdf/Suitcase/101681/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e29525511d69bf613b645c19b9b22ae9434b95bd
--- /dev/null
+++ b/assets/urdf/Suitcase/101681/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Suitcase", "model_id": "e450a063965ce182372d50f0ef237781", "version": "1", "anno_id": "1681", "time_in_sec": "24"}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101681/mobility.urdf b/assets/urdf/Suitcase/101681/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..afadbcfb3d61a5634030dc92b5ae6d092e60dd11
--- /dev/null
+++ b/assets/urdf/Suitcase/101681/mobility.urdf
@@ -0,0 +1,341 @@
+<?xml version="1.0" ?>
+<robot name="partnet_e450a063965ce182372d50f0ef237781">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="handle-1">
+			<origin xyz="-0.39518128119428075 -0.2589746505406074 0.08204028527521606"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.39518128119428075 -0.2589746505406074 0.08204028527521606"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.39518128119428075 0.2589746505406074 -0.08204028527521606"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="-0.06911503837897545" upper="2.9970793915246627"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-2">
+			<origin xyz="-0.39518128119428075 -0.24933746091415743 -0.07747331146812912"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.39518128119428075 -0.24933746091415743 -0.07747331146812912"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.39518128119428075 0.24933746091415743 0.07747331146812912"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.05026548245743661" upper="2.9593802796815853"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.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-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.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-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.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-2.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-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-23.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-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<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-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Suitcase/101681/mobility_v2.json b/assets/urdf/Suitcase/101681/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd6f16465ef1c1a876166f23bb2d2f4de34b3a3e
--- /dev/null
+++ b/assets/urdf/Suitcase/101681/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "hinge", "name": "handle", "parts": [{"id": 1, "name": "handle", "children": []}], "jointData": {"axis": {"origin": [0.39518128119428075, 0.2589746505406074, -0.08204028527521606], "direction": [1, 0, 0]}, "limit": {"a": 3.96, "b": -171.72, "noLimit": false}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "handle", "parts": [{"id": 2, "name": "handle", "children": []}], "jointData": {"axis": {"origin": [0.39518128119428075, 0.24933746091415743, 0.07747331146812912], "direction": [1, 0, 0]}, "limit": {"a": -2.8799999999999955, "b": 169.56, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101681/model_data.json b/assets/urdf/Suitcase/101681/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..90f2d8d2d731a813dfc53a5be4b9922828363a92
--- /dev/null
+++ b/assets/urdf/Suitcase/101681/model_data.json
@@ -0,0 +1,220 @@
+{
+    "scale": 0.3,
+    "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": [
+                    [
+                        0.21408000588417053,
+                        -0.7087100148200989,
+                        0.6722400188446045,
+                        -0.07727000117301941
+                    ],
+                    [
+                        -0.5250099897384644,
+                        -0.6638200283050537,
+                        -0.5326399803161621,
+                        0.37411999702453613
+                    ],
+                    [
+                        0.8237299919128418,
+                        -0.23890000581741333,
+                        -0.5141900181770325,
+                        0.5877799987792969
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.08190000057220459,
+                        -0.7989400029182434,
+                        0.5958099961280823,
+                        -0.09949000179767609
+                    ],
+                    [
+                        -0.9361199736595154,
+                        0.2668200135231018,
+                        0.2291100025177002,
+                        -0.06131000071763992
+                    ],
+                    [
+                        -0.3420200049877167,
+                        -0.5389800071716309,
+                        -0.7697499990463257,
+                        1.0039900541305542
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        -0.04653000086545944,
+                        -0.9017699956893921,
+                        0.42969000339508057,
+                        -0.04332000017166138
+                    ],
+                    [
+                        -0.8230800032615662,
+                        0.2783600091934204,
+                        0.4950299859046936,
+                        -0.32512998580932617
+                    ],
+                    [
+                        -0.5660200119018555,
+                        -0.3306399881839752,
+                        -0.7551900148391724,
+                        0.8738200068473816
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 3,
+                "matrix": [
+                    [
+                        -0.18300999701023102,
+                        0.9280200004577637,
+                        -0.32447001338005066,
+                        0.06369999796152115
+                    ],
+                    [
+                        0.6830099821090698,
+                        -0.11737000197172165,
+                        -0.7209200263023376,
+                        0.40536999702453613
+                    ],
+                    [
+                        -0.7071099877357483,
+                        -0.353549987077713,
+                        -0.6123700141906738,
+                        0.714709997177124
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 4,
+                "matrix": [
+                    [
+                        0.03441999852657318,
+                        -0.909250020980835,
+                        -0.4148299992084503,
+                        0.06808999925851822
+                    ],
+                    [
+                        -0.9304500222206116,
+                        0.12234999984502792,
+                        -0.3453800082206726,
+                        0.013460000045597553
+                    ],
+                    [
+                        0.3647899925708771,
+                        0.3978700041770935,
+                        -0.8417999744415283,
+                        1.027999997138977
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 5,
+                "matrix": [
+                    [
+                        0.11354000121355057,
+                        0.9858800172805786,
+                        -0.12308000028133392,
+                        0.0698700025677681
+                    ],
+                    [
+                        0.3841499984264374,
+                        0.07067999988794327,
+                        0.9205600023269653,
+                        -0.42346999049186707
+                    ],
+                    [
+                        0.9162600040435791,
+                        -0.15181000530719757,
+                        -0.37070000171661377,
+                        0.6754400134086609
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101681/result.json b/assets/urdf/Suitcase/101681/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cca8d275d75cd27760edf8a2555f673665b0000
--- /dev/null
+++ b/assets/urdf/Suitcase/101681/result.json
@@ -0,0 +1 @@
+[{"text": "Suitcase", "name": "Suitcase", "id": 0, "children": [{"text": "handle", "name": "handle", "id": 1, "objs": ["original-18"]}, {"text": "handle", "name": "handle", "id": 2, "objs": ["original-15"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-21", "original-22", "original-26", "original-4", "original-3", "original-2", "original-16", "original-8", "original-13", "original-9", "original-5", "original-6", "original-23", "original-11", "original-25", "original-17", "original-12", "original-24", "original-20", "original-7", "original-1", "original-10", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101681/result_original.json b/assets/urdf/Suitcase/101681/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..da822da81f006f308950a3982834dca0485f6de8
--- /dev/null
+++ b/assets/urdf/Suitcase/101681/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Suitcase", "text": "Suitcase", "children": [{"id": 1, "name": "handle", "text": "handle", "objs": ["original-18"]}, {"id": 2, "name": "handle", "text": "handle", "objs": ["original-15"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/101681/semantics.txt b/assets/urdf/Suitcase/101681/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..24eeceb1d6dfcc45197b880ea319128d3052892a
--- /dev/null
+++ b/assets/urdf/Suitcase/101681/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge rotation_handle
+link_1 hinge rotation_handle
+link_2 free suitcase_body
diff --git a/assets/urdf/Suitcase/103757/bounding_box.json b/assets/urdf/Suitcase/103757/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..d05b322d70638e47f6662e93f7ab0d5e41c3653a
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.931356, -0.427954, -0.382041], "max": [0.948733, 0.621975, 0.806103]}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/103757/grasp_poses.json b/assets/urdf/Suitcase/103757/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..51bf60dddf6c87811f56f3c8ae724ddad1bafc22
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "103757",
+    "scale": 0.3,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.3420200049877167,
+                        0.39713001251220703,
+                        0.8516499996185303,
+                        -0.7089700102806091
+                    ],
+                    [
+                        -0.9396899938583374,
+                        -0.1445399969816208,
+                        -0.30998000502586365,
+                        0.40821999311447144
+                    ],
+                    [
+                        -0.0,
+                        -0.9063100218772888,
+                        0.4226199984550476,
+                        -0.388729989528656
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.8244100213050842,
+                        0.08568999916315079,
+                        0.5594599843025208,
+                        -0.570900022983551
+                    ],
+                    [
+                        -0.565500020980835,
+                        0.16564999520778656,
+                        0.8079400062561035,
+                        -0.6513100266456604
+                    ],
+                    [
+                        -0.023439999669790268,
+                        -0.982450008392334,
+                        0.18501999974250793,
+                        -0.35245001316070557
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/103757/meta.json b/assets/urdf/Suitcase/103757/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e0720bfca2d76d07d448c9c84ec005bdc8d0009
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Suitcase", "model_id": "9d7ba75b-2113-4900-aa70-97788fcf2e99-1", "version": "1", "anno_id": "3757", "time_in_sec": "77"}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/103757/mobility.urdf b/assets/urdf/Suitcase/103757/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2ba4e02c21813d87f89a620d48e29a07f67d7fba
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/mobility.urdf
@@ -0,0 +1,235 @@
+<?xml version="1.0" ?>
+<robot name="partnet_9d7ba75b-2113-4900-aa70-97788fcf2e99-1">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="belt-3">
+			<origin xyz="-0.7084569999999997 -0.06333799361147907 0.02035405212548891"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="belt-3">
+			<origin xyz="-0.7084569999999997 -0.06333799361147907 0.02035405212548891"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.7084569999999997 -0.06333799361147907 0.02035405212548891"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.7084569999999997 -0.06333799361147907 0.02035405212548891"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.7084569999999997 0.06333799361147907 -0.02035405212548891"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.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-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Suitcase/103757/mobility_v2.json b/assets/urdf/Suitcase/103757/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..5adac5617227c5777baed3f287d07f7dfd765bc8
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "belt", "parts": [{"id": 3, "name": "belt", "children": []}], "jointData": {"axis": {"origin": [0.7084569999999997, 0.06333799361147907, -0.02035405212548891], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "free", "name": "handle", "parts": [{"id": 1, "name": "handle", "children": []}, {"id": 4, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/103757/model_data.json b/assets/urdf/Suitcase/103757/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba00ee21c73d52259729045fd791c07ccd3e6c12
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/model_data.json
@@ -0,0 +1,96 @@
+{
+    "scale": 0.3,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.3420200049877167,
+                        0.39713001251220703,
+                        0.8516499996185303,
+                        -0.7089700102806091
+                    ],
+                    [
+                        -0.9396899938583374,
+                        -0.1445399969816208,
+                        -0.30998000502586365,
+                        0.40821999311447144
+                    ],
+                    [
+                        -0.0,
+                        -0.9063100218772888,
+                        0.4226199984550476,
+                        -0.388729989528656
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.8244100213050842,
+                        0.08568999916315079,
+                        0.5594599843025208,
+                        -0.570900022983551
+                    ],
+                    [
+                        -0.565500020980835,
+                        0.16564999520778656,
+                        0.8079400062561035,
+                        -0.6513100266456604
+                    ],
+                    [
+                        -0.023439999669790268,
+                        -0.982450008392334,
+                        0.18501999974250793,
+                        -0.35245001316070557
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/103757/result.json b/assets/urdf/Suitcase/103757/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..248bf227df276ca1a103fae84ae27853c07f72c1
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/result.json
@@ -0,0 +1 @@
+[{"text": "Suitcase", "name": "Suitcase", "id": 0, "children": [{"text": "handle", "name": "handle", "id": 1, "objs": ["original-4", "original-8", "original-5"]}, {"text": "belt (other)", "name": "other", "id": 2, "children": [{"text": "other_leaf", "name": "belt", "id": 3, "objs": ["original-11", "original-12"]}]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-3", "original-2", "original-13", "original-9", "original-6", "original-15", "original-18", "original-17", "original-20", "original-7", "original-10", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/103757/result_original.json b/assets/urdf/Suitcase/103757/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..affdd82e82344db18671b0653bf67af54e13e035
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Suitcase", "text": "Suitcase", "children": [{"id": 1, "name": "handle", "text": "handle", "objs": ["original-4", "original-8", "original-5"]}, {"id": 2, "name": "other", "text": "belt (other)", "children": [{"id": 3, "name": "other_leaf", "text": "other_leaf", "objs": ["original-11", "original-12"]}]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Suitcase/103757/semantics.txt b/assets/urdf/Suitcase/103757/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1dd133e355f6a0403facdc4860583fd4892fbaec
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotation_handle
+link_1 free suitcase_body
diff --git a/assets/urdf/Suitcase/103757/textured_objs/original-10.mtl b/assets/urdf/Suitcase/103757/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b9bd7e0cc58d3a70a37a77e57ae3eb6d907ad3a
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.1450980392156863 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Suitcase/103757/textured_objs/original-10.obj b/assets/urdf/Suitcase/103757/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5022d2a611541f099b1eb1a67307464e4ac933a
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/textured_objs/original-10.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o instance_28/handleh2/ID525#ID525
+v -0.180642 0.333820 -0.306102
+v -0.189946 0.328447 -0.306102
+v -0.180642 0.323075 -0.306102
+v -0.180642 0.323075 -0.306102
+v -0.251664 0.328447 -0.367821
+v -0.251664 0.323075 -0.377125
+v -0.189946 0.328447 -0.306102
+v -0.251664 0.323075 -0.377125
+v -0.180642 0.333820 -0.306102
+v -0.180642 0.323075 -0.306102
+v -0.251664 0.333820 -0.377125
+v -0.189946 0.328447 -0.306102
+v -0.251664 0.333820 -0.377125
+v -0.251664 0.328447 -0.367821
+v -0.180642 0.333820 -0.306102
+v -0.251664 0.323075 -0.377125
+v -0.313383 0.328447 -0.306102
+v -0.322685 0.323075 -0.306102
+v -0.251664 0.328447 -0.367821
+v -0.251664 0.333820 -0.377125
+v -0.322685 0.323075 -0.306102
+v -0.322685 0.333820 -0.306102
+v -0.251664 0.323075 -0.377125
+v -0.313383 0.328447 -0.306102
+v -0.251664 0.333820 -0.377125
+v -0.322685 0.333820 -0.306102
+v -0.251664 0.328447 -0.367821
+v -0.322685 0.333820 -0.306102
+v -0.322685 0.323075 -0.306102
+v -0.313383 0.328447 -0.306102
+vn 0 0 1
+vn -0.4472451161376998 -0.7745603279480349 0.447245016137696
+vn 0.7071069811865139 0 -0.7071065811865246
+vn -0.4472441951276301 0.7745613915617694 0.44724409512763136
+vn 0.44728320368870433 -0.7745213063874076 0.4472745036886324
+vn -0.7071187310860962 0 -0.7070948310850456
+vn 0.4472822973605268 0.7745222954294393 0.4472736973605777
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 4//2 5//2 6//2
+f 5//2 4//2 7//2
+f 8//3 9//3 10//3
+f 9//3 8//3 11//3
+f 12//4 13//4 14//4
+f 13//4 12//4 15//4
+f 16//5 17//5 18//5
+f 17//5 16//5 19//5
+f 20//6 21//6 22//6
+f 21//6 20//6 23//6
+f 24//7 25//7 26//7
+f 25//7 24//7 27//7
+f 28//1 29//1 30//1
diff --git a/assets/urdf/Suitcase/103757/textured_objs/original-11.mtl b/assets/urdf/Suitcase/103757/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b9bd7e0cc58d3a70a37a77e57ae3eb6d907ad3a
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.1450980392156863 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Suitcase/103757/textured_objs/original-12.mtl b/assets/urdf/Suitcase/103757/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a44663cc2cf04dca4609f0bfa33238c247591c2e
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0.6 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Suitcase/103757/textured_objs/original-14.mtl b/assets/urdf/Suitcase/103757/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/textured_objs/original-14.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/Suitcase/103757/textured_objs/original-17.obj b/assets/urdf/Suitcase/103757/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bd8dc7b5ec53fca496663be823609f4b6ec4ae0
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/textured_objs/original-17.obj
@@ -0,0 +1,53 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
+o #ID573
+v -0.282514 0.163380 0.266257
+v -0.279238 0.168858 0.255061
+v -0.282764 0.165646 0.266802
+v -0.278987 0.166593 0.254514
+v -0.266999 0.170846 0.252441
+v -0.279238 0.168858 0.255061
+v -0.278987 0.166593 0.254514
+v -0.282514 0.163380 0.266257
+v -0.282764 0.165646 0.266802
+v -0.273800 0.162153 0.275378
+v -0.266999 0.170846 0.252441
+v -0.278987 0.166593 0.254514
+v -0.266748 0.168578 0.251896
+v -0.282764 0.165646 0.266802
+v -0.274054 0.164421 0.275923
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diff --git a/assets/urdf/Suitcase/103757/textured_objs/original-2.obj b/assets/urdf/Suitcase/103757/textured_objs/original-2.obj
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diff --git a/assets/urdf/Suitcase/103757/textured_objs/original-20.obj b/assets/urdf/Suitcase/103757/textured_objs/original-20.obj
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--- /dev/null
+++ b/assets/urdf/Suitcase/103757/textured_objs/original-20.obj
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diff --git a/assets/urdf/Suitcase/103757/textured_objs/original-5.mtl b/assets/urdf/Suitcase/103757/textured_objs/original-5.mtl
new file mode 100644
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diff --git a/assets/urdf/Suitcase/103757/textured_objs/original-5.obj b/assets/urdf/Suitcase/103757/textured_objs/original-5.obj
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index 0000000000000000000000000000000000000000..579caac00c05e96dd2199a36443468ea78b9b7bf
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/textured_objs/original-5.obj
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diff --git a/assets/urdf/Suitcase/103757/textured_objs/original-6.obj b/assets/urdf/Suitcase/103757/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0c03d13944f8910956c8e1dc11aa966967e2339
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/textured_objs/original-6.obj
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+# SSTK version 0.8.0
+# 6
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diff --git a/assets/urdf/Suitcase/103757/textured_objs/original-7.mtl b/assets/urdf/Suitcase/103757/textured_objs/original-7.mtl
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index 0000000000000000000000000000000000000000..6b9bd7e0cc58d3a70a37a77e57ae3eb6d907ad3a
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diff --git a/assets/urdf/Suitcase/103757/textured_objs/original-7.obj b/assets/urdf/Suitcase/103757/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..849ebfbf05b21ddf0ab98d3ada189ba31a58a327
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/textured_objs/original-7.obj
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diff --git a/assets/urdf/Suitcase/103757/textured_objs/original-8.mtl b/assets/urdf/Suitcase/103757/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b9bd7e0cc58d3a70a37a77e57ae3eb6d907ad3a
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/textured_objs/original-8.mtl
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diff --git a/assets/urdf/Suitcase/103757/textured_objs/original-8.obj b/assets/urdf/Suitcase/103757/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c760247acb4ba34f4cf751d5ad06fceb0d44c3ff
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/textured_objs/original-8.obj
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diff --git a/assets/urdf/Suitcase/103757/textured_objs/original-9.obj b/assets/urdf/Suitcase/103757/textured_objs/original-9.obj
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index 0000000000000000000000000000000000000000..5a34a00440f7d3714ea554365defa76a0e239808
--- /dev/null
+++ b/assets/urdf/Suitcase/103757/textured_objs/original-9.obj
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