diff --git a/assets/urdf/Bucket/Bucket/100441/textured_objs/original-1.mtl b/assets/urdf/Bucket/Bucket/100441/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a945d2b2a3d155a2ac7b163ba8cf863b3546f305
--- /dev/null
+++ b/assets/urdf/Bucket/Bucket/100441/textured_objs/original-1.mtl
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+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Bucket/Bucket/100441/textured_objs/original-1.obj b/assets/urdf/Bucket/Bucket/100441/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7f7a2448f8a73ca0220c260af50a5fe8e9d415b
--- /dev/null
+++ b/assets/urdf/Bucket/Bucket/100441/textured_objs/original-1.obj
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+map_Kd ../images/texture_0.jpg
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diff --git a/assets/urdf/Bucket/Bucket/100448/textured_objs/original-4.obj b/assets/urdf/Bucket/Bucket/100448/textured_objs/original-4.obj
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index 0000000000000000000000000000000000000000..069b624f906ca60b38584bb081b940f717679374
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diff --git a/assets/urdf/Bucket/Bucket/100461/textured_objs/original-2.obj b/assets/urdf/Bucket/Bucket/100461/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43c3198a6fc96c5e421c4df279841ac4346c05ed
--- /dev/null
+++ b/assets/urdf/Bucket/Bucket/100461/textured_objs/original-2.obj
@@ -0,0 +1,99 @@
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diff --git a/assets/urdf/Bucket/Bucket/100461/textured_objs/original-3.mtl b/assets/urdf/Bucket/Bucket/100461/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/assets/urdf/Bucket/Bucket/100461/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Bucket/Bucket/100461/textured_objs/original-3.obj b/assets/urdf/Bucket/Bucket/100461/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93216fb2a05456ffd893c638064edf3e62359274
--- /dev/null
+++ b/assets/urdf/Bucket/Bucket/100461/textured_objs/original-3.obj
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index 0000000000000000000000000000000000000000..6ce0a9d1f1eef566b945c0ed2b10923befc07629
--- /dev/null
+++ b/assets/urdf/Bucket/Bucket/100464/textured_objs/original-2.obj
@@ -0,0 +1,729 @@
+# SSTK version 0.8.0
+# 2
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new file mode 100644
index 0000000000000000000000000000000000000000..2799d9cabcd659f757495c855ab7f06841d5f2af
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diff --git a/assets/urdf/Bucket/Bucket/100465/textured_objs/original-2.obj b/assets/urdf/Bucket/Bucket/100465/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e6257a2feb628ce3d02dfaaeb2935369a8c4a35
--- /dev/null
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diff --git a/assets/urdf/Bucket/Bucket/100466/textured_objs/original-1.obj b/assets/urdf/Bucket/Bucket/100466/textured_objs/original-1.obj
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diff --git a/assets/urdf/Bucket/Bucket/100466/textured_objs/original-4.obj b/assets/urdf/Bucket/Bucket/100466/textured_objs/original-4.obj
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index 0000000000000000000000000000000000000000..764fc50abf6385406b62ad403b4f7f041bdad6d4
--- /dev/null
+++ b/assets/urdf/Bucket/Bucket/100466/textured_objs/original-4.obj
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diff --git a/assets/urdf/Bucket/Bucket/100466/textured_objs/original-5.mtl b/assets/urdf/Bucket/Bucket/100466/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
+++ b/assets/urdf/Bucket/Bucket/100466/textured_objs/original-5.mtl
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diff --git a/assets/urdf/Bucket/Bucket/100466/textured_objs/original-5.obj b/assets/urdf/Bucket/Bucket/100466/textured_objs/original-5.obj
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index 0000000000000000000000000000000000000000..677d4f65dbcaeaf3e7d92bb72e17f58b8528229c
--- /dev/null
+++ b/assets/urdf/Bucket/Bucket/100466/textured_objs/original-5.obj
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diff --git a/assets/urdf/Bucket/Bucket/100468/textured_objs/original-5.obj b/assets/urdf/Bucket/Bucket/100468/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cf226052ee3934981775e65487d0722a47b5796
--- /dev/null
+++ b/assets/urdf/Bucket/Bucket/100468/textured_objs/original-5.obj
@@ -0,0 +1,11084 @@
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diff --git a/assets/urdf/Bucket/Bucket/100468/textured_objs/original-6.obj b/assets/urdf/Bucket/Bucket/100468/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2740a0fd122a8d436c435fd3f8da1da74b4d0534
--- /dev/null
+++ b/assets/urdf/Bucket/Bucket/100468/textured_objs/original-6.obj
@@ -0,0 +1,7717 @@
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index 0000000000000000000000000000000000000000..9366eb6859f04314b85691e9be1db323f2084ffa
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diff --git a/assets/urdf/Bucket/Bucket/100486/textured_objs/original-13.obj b/assets/urdf/Bucket/Bucket/100486/textured_objs/original-13.obj
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index 0000000000000000000000000000000000000000..eb2738ef9c98b9157a641be16c3be4ac07249fda
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diff --git a/assets/urdf/Bucket/Bucket/100486/textured_objs/original-2.mtl b/assets/urdf/Bucket/Bucket/100486/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86581708bf900d88e27174c813917b3a24f69406
--- /dev/null
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diff --git a/assets/urdf/Bucket/Bucket/102358/textured_objs/original-10.obj b/assets/urdf/Bucket/Bucket/102358/textured_objs/original-10.obj
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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+map_Kd ../images/texture_0.jpg
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diff --git a/assets/urdf/Bucket/Bucket/102358/textured_objs/original-6.obj b/assets/urdf/Bucket/Bucket/102358/textured_objs/original-6.obj
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index 0000000000000000000000000000000000000000..6dcc32d9eba69918a1207505cb23712dbea12add
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diff --git a/assets/urdf/Bucket/Bucket/102359/textured_objs/original-3.obj b/assets/urdf/Bucket/Bucket/102359/textured_objs/original-3.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Bucket/Bucket/102359/textured_objs/original-4.mtl
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diff --git a/assets/urdf/Bucket/Bucket/102359/textured_objs/original-4.obj b/assets/urdf/Bucket/Bucket/102359/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47fed25fd43d03016d96e4c485e260f1649fa83f
--- /dev/null
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diff --git a/assets/urdf/Bucket/Bucket/102367/textured_objs/original-3.obj b/assets/urdf/Bucket/Bucket/102367/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460af2ef35b8a27e4c76aff2ed07ff43b89f231c
--- /dev/null
+++ b/assets/urdf/Bucket/Bucket/102367/textured_objs/original-3.obj
@@ -0,0 +1,8360 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/assets/urdf/Kitchenpot/100015/bounding_box.json b/assets/urdf/Kitchenpot/100015/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..87697fd8cdba86f22268b4fd80ea6144f6ef1a52
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100015/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.908077, -0.32619, -0.582304], "max": [0.901081, 0.507634, 0.634301]}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100015/grasp_poses.json b/assets/urdf/Kitchenpot/100015/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..20f5f0c5a73822d73ff633da1e913517bef9979a
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100015/grasp_poses.json
@@ -0,0 +1,105 @@
+{
+    "object_name": "100015",
+    "scale": 0.25,
+    "grasp_parts": {
+        "left_handle": [
+            {
+                "id": 0,
+                "matrix": [
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+                    [
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+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "right_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
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+                    ],
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+                    [
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+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
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+                    [
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+                        0.0,
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+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100015/meta.json b/assets/urdf/Kitchenpot/100015/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d056474eca029f07f6c912961efd0c4b67f7d3a
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100015/meta.json
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+{"user_id": "fxiang", "model_cat": "KitchenPot", "model_id": "11e7166d-8424-4edf-98cf-783b60539214", "version": "1", "anno_id": "15", "time_in_sec": "117"}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100015/mobility.urdf b/assets/urdf/Kitchenpot/100015/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d19cff85393b6e2afe8a2ed7d1d2932175b88246
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100015/mobility.urdf
@@ -0,0 +1,284 @@
+<?xml version="1.0" ?>
+<robot name="partnet_11e7166d-8424-4edf-98cf-783b60539214">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<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-10.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-8.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-13.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-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.06"/>
+	</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-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.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-23.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-7.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-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-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-23.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-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/Kitchenpot/100015/mobility_v2.json b/assets/urdf/Kitchenpot/100015/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d423396a764c6171de4dac42cf5a606417b36954
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100015/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.06,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100015/model_data.json b/assets/urdf/Kitchenpot/100015/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7ffc529e070c7fb131e1902a6338b049c9f9ab1
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100015/model_data.json
@@ -0,0 +1,131 @@
+{
+    "scale": 0.25,
+    "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": {
+        "left_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9396899938583374,
+                        0.2962000072002411,
+                        -0.17101000249385834,
+                        -0.03999999910593033
+                    ],
+                    [
+                        -0.0,
+                        0.5,
+                        0.8660299777984619,
+                        -0.8799999952316284
+                    ],
+                    [
+                        0.3420200049877167,
+                        0.8137999773025513,
+                        -0.46985000371932983,
+                        0.3199999928474426
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "right_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9396899938583374,
+                        0.0,
+                        -0.3420200049877167,
+                        0.0
+                    ],
+                    [
+                        -0.340719997882843,
+                        -0.08715999871492386,
+                        -0.9361199736595154,
+                        0.8799999952316284
+                    ],
+                    [
+                        -0.029810000211000443,
+                        0.9961900115013123,
+                        -0.08190000057220459,
+                        0.3199999928474426
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.08417999744415283,
+                        0.9961900115013123,
+                        -0.0225600004196167,
+                        0.0
+                    ],
+                    [
+                        0.9622499942779541,
+                        0.08715000003576279,
+                        0.2578299939632416,
+                        0.0
+                    ],
+                    [
+                        0.2588199973106384,
+                        0.0,
+                        -0.9659299850463867,
+                        0.47999998927116394
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100015/result.json b/assets/urdf/Kitchenpot/100015/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad3a95e8fcd62ecefa5fab4d6296db52b111958f
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100015/result.json
@@ -0,0 +1 @@
+[{"text": "KitchenPot", "name": "KitchenPot", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-17", "original-10", "original-11", "original-8", "original-1", "original-13", "original-15", "original-14", "original-16"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-29", "original-21", "original-30", "original-22", "original-26", "original-5", "original-27", "original-6", "original-31", "original-23", "original-25", "original-7", "original-19"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100015/result_original.json b/assets/urdf/Kitchenpot/100015/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..a00afb30497dc780c38e790aa2c534d04dfd105e
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100015/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "KitchenPot", "text": "KitchenPot", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-17", "original-10", "original-11", "original-8", "original-1", "original-13", "original-15", "original-14", "original-16"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100015/semantics.txt b/assets/urdf/Kitchenpot/100015/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..604383c5f1e8de3b6a15902c9f29e3f2507c2c02
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100015/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free pot_body
diff --git a/assets/urdf/Kitchenpot/100023/meta.json b/assets/urdf/Kitchenpot/100023/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff2b27f1796e092ee78b7c027201f5d427b27694
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100023/meta.json
@@ -0,0 +1 @@
+{"user_id": "fxiang", "model_cat": "KitchenPot", "model_id": "2266db44d8411d909d0d74633db4834d", "version": "1", "anno_id": "23", "time_in_sec": "49"}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100023/result_original.json b/assets/urdf/Kitchenpot/100023/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..040e650d819e8f214b447db7e9a625ea348a44f2
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100023/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "KitchenPot", "text": "KitchenPot", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-6", "original-7"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100023/semantics.txt b/assets/urdf/Kitchenpot/100023/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..604383c5f1e8de3b6a15902c9f29e3f2507c2c02
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100023/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free pot_body
diff --git a/assets/urdf/Kitchenpot/100025/bounding_box.json b/assets/urdf/Kitchenpot/100025/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bf4add5d738233aeedda49047e81651653a634b
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100025/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.885343, -0.552691, -0.671173], "max": [0.945737, 0.578496, 0.765961]}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100025/grasp_poses.json b/assets/urdf/Kitchenpot/100025/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae93335af08f8c98541d5d62f3e3e0d5b4458f25
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100025/grasp_poses.json
@@ -0,0 +1,105 @@
+{
+    "object_name": "100025",
+    "scale": 0.25,
+    "grasp_parts": {
+        "left_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9307399988174438,
+                        -0.08851999789476395,
+                        0.3548099994659424,
+                        0.0
+                    ],
+                    [
+                        0.3570899963378906,
+                        0.010950000025331974,
+                        -0.9340000152587891,
+                        0.8799999952316284
+                    ],
+                    [
+                        0.07879000157117844,
+                        0.9960100054740906,
+                        0.04179999977350235,
+                        0.3199999928474426
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "right_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9401500225067139,
+                        0.030150000005960464,
+                        0.33941999077796936,
+                        0.0
+                    ],
+                    [
+                        -0.3090200126171112,
+                        -0.3443099856376648,
+                        0.8865399956703186,
+                        -0.9599999785423279
+                    ],
+                    [
+                        0.1436000019311905,
+                        -0.9383699893951416,
+                        -0.3143799901008606,
+                        0.3199999928474426
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        -0.08715999871492386,
+                        0.003490000031888485
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        0.5998499989509583
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100025/meta.json b/assets/urdf/Kitchenpot/100025/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73b91c2797d0233db20411cd95133c157f3b02c1
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100025/meta.json
@@ -0,0 +1 @@
+{"user_id": "fxiang", "model_cat": "KitchenPot", "model_id": "2986eeb703150292732208e596b26ebc", "version": "1", "anno_id": "25", "time_in_sec": "18"}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100025/mobility.urdf b/assets/urdf/Kitchenpot/100025/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1a5fc4b7e6a2bd6f438d65b5837b4e7a7304c3dc
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100025/mobility.urdf
@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<robot name="partnet_2986eeb703150292732208e596b26ebc">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_1">
+		<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-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Kitchenpot/100025/mobility_v2.json b/assets/urdf/Kitchenpot/100025/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e15c3bdeb56e048083fc160b6cf2c48119a122bd
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100025/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.02,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100025/model_data.json b/assets/urdf/Kitchenpot/100025/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..87f6ff9114c44005a8c0c3f031eba44dc8c4aa3f
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100025/model_data.json
@@ -0,0 +1,131 @@
+{
+    "scale": 0.25,
+    "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": {
+        "left_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9307399988174438,
+                        -0.08851999789476395,
+                        0.3548099994659424,
+                        0.0
+                    ],
+                    [
+                        0.3570899963378906,
+                        0.010950000025331974,
+                        -0.9340000152587891,
+                        0.8799999952316284
+                    ],
+                    [
+                        0.07879000157117844,
+                        0.9960100054740906,
+                        0.04179999977350235,
+                        0.3199999928474426
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "right_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9401500225067139,
+                        0.030150000005960464,
+                        0.33941999077796936,
+                        0.0
+                    ],
+                    [
+                        -0.3090200126171112,
+                        -0.3443099856376648,
+                        0.8865399956703186,
+                        -0.9599999785423279
+                    ],
+                    [
+                        0.1436000019311905,
+                        -0.9383699893951416,
+                        -0.3143799901008606,
+                        0.3199999928474426
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        -0.08715999871492386,
+                        0.003490000031888485
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        0.5998499989509583
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100025/result.json b/assets/urdf/Kitchenpot/100025/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..276d15270029f67a849d688787e588d5140971dc
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100025/result.json
@@ -0,0 +1 @@
+[{"text": "KitchenPot", "name": "KitchenPot", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-4"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-3", "original-2", "original-5", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100025/result_original.json b/assets/urdf/Kitchenpot/100025/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e5965ae77c404be410f7ee1a3271b521f31b5a7
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100025/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "KitchenPot", "text": "KitchenPot", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-4"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100025/semantics.txt b/assets/urdf/Kitchenpot/100025/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..604383c5f1e8de3b6a15902c9f29e3f2507c2c02
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100025/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free pot_body
diff --git a/assets/urdf/Kitchenpot/100033/bounding_box.json b/assets/urdf/Kitchenpot/100033/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..43872ce544b36a05c8f874f8ad29ef5ab65a17a9
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100033/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.871716, -0.540574, -0.83015], "max": [0.827244, 0.82551, 0.870085]}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100033/grasp_poses.json b/assets/urdf/Kitchenpot/100033/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fbafe1aa1b6fef66a7cd59c8b3077a603e91399
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100033/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "100033",
+    "scale": 0.25,
+    "grasp_parts": {
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        -0.08715999871492386,
+                        -0.04349000006914139
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.03999999910593033
+                    ],
+                    [
+                        0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        0.8001499772071838
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100033/meta.json b/assets/urdf/Kitchenpot/100033/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..565ba2e791ad3ed2fc856fe43f304bbcedb70e05
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100033/meta.json
@@ -0,0 +1 @@
+{"user_id": "fxiang", "model_cat": "KitchenPot", "model_id": "59d325f1-0de4-4ce9-9374-c1304d0cc81c", "version": "1", "anno_id": "33", "time_in_sec": "64"}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100033/mobility.urdf b/assets/urdf/Kitchenpot/100033/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7af10410d752151e342f4afbd0adbb94a0b31d07
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100033/mobility.urdf
@@ -0,0 +1,128 @@
+<?xml version="1.0" ?>
+<robot name="partnet_59d325f1-0de4-4ce9-9374-c1304d0cc81c">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<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-3.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-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.03"/>
+	</joint>
+	<link name="link_1">
+		<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-12.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-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-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Kitchenpot/100033/mobility_v2.json b/assets/urdf/Kitchenpot/100033/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9131be75b11d5b64fb8f36a7a81ca1c83b8ce05
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100033/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.03,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100033/model_data.json b/assets/urdf/Kitchenpot/100033/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9012c6feba7ba06cad9a5245a5a718f6c37c9ba
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100033/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 0.25,
+    "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": {
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        -0.08715999871492386,
+                        -0.04349000006914139
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.03999999910593033
+                    ],
+                    [
+                        0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        0.8001499772071838
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100033/result.json b/assets/urdf/Kitchenpot/100033/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d20da693dd54c91533ae74617063fc3d643eefa
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100033/result.json
@@ -0,0 +1 @@
+[{"text": "KitchenPot", "name": "KitchenPot", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-6", "original-3", "original-4", "original-7"], "conf_score": "1"}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-8", "original-13", "original-9", "original-12", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100033/result_original.json b/assets/urdf/Kitchenpot/100033/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c51fb65250379457731ec2710160c006eb5befc
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100033/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "KitchenPot", "text": "KitchenPot", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-6", "original-3", "original-4", "original-7"], "conf_score": "1"}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100033/semantics.txt b/assets/urdf/Kitchenpot/100033/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..604383c5f1e8de3b6a15902c9f29e3f2507c2c02
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100033/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free pot_body
diff --git a/assets/urdf/Kitchenpot/100038/bounding_box.json b/assets/urdf/Kitchenpot/100038/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a18efd7a04388a2676de617ba61603b7e77e41d
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100038/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.973483, -0.457527, -0.69735], "max": [0.934066, 0.61347, 0.710051]}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100038/grasp_poses.json b/assets/urdf/Kitchenpot/100038/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee3791bcc999880f2efeec6e26a6e8b06fa54690
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100038/grasp_poses.json
@@ -0,0 +1,105 @@
+{
+    "object_name": "100038",
+    "scale": 0.25,
+    "grasp_parts": {
+        "left_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9396899938583374,
+                        0.0,
+                        -0.3420200049877167,
+                        0.0
+                    ],
+                    [
+                        -0.3213900029659271,
+                        -0.3420200049877167,
+                        -0.8830199837684631,
+                        0.9599999785423279
+                    ],
+                    [
+                        -0.11698000133037567,
+                        0.9396899938583374,
+                        -0.3213900029659271,
+                        0.20000000298023224
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "right_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9063100218772888,
+                        0.0,
+                        -0.4226199984550476,
+                        0.0
+                    ],
+                    [
+                        0.3461900055408478,
+                        -0.5735800266265869,
+                        0.7423999905586243,
+                        -0.9200000166893005
+                    ],
+                    [
+                        -0.24240000545978546,
+                        -0.8191499710083008,
+                        -0.5198400020599365,
+                        0.2800000011920929
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9848099946975708,
+                        0.0,
+                        0.17364999651908875,
+                        -0.00026000000070780516
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        0.0,
+                        0.026159999892115593
+                    ],
+                    [
+                        0.17364999651908875,
+                        -0.0,
+                        -0.9848099946975708,
+                        0.6014900207519531
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100038/meta.json b/assets/urdf/Kitchenpot/100038/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fb141845008f162cf01a1b14b7bbd4afbbce1dd
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100038/meta.json
@@ -0,0 +1 @@
+{"user_id": "fxiang", "model_cat": "KitchenPot", "model_id": "7c4df032-d578-4bfb-958e-a7c7c31d655f", "version": "1", "anno_id": "38", "time_in_sec": "34"}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100038/mobility.urdf b/assets/urdf/Kitchenpot/100038/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..289986062fc854897aa0d2a036fc37194e8cfd99
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100038/mobility.urdf
@@ -0,0 +1,152 @@
+<?xml version="1.0" ?>
+<robot name="partnet_7c4df032-d578-4bfb-958e-a7c7c31d655f">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_1">
+		<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-11.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-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.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-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.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/Kitchenpot/100038/mobility_v2.json b/assets/urdf/Kitchenpot/100038/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..316136a214e8115cbc2816545409138f9f23a689
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100038/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.01,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100038/model_data.json b/assets/urdf/Kitchenpot/100038/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..57edac125de033a2846b5fda700e183bd271c4ff
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100038/model_data.json
@@ -0,0 +1,131 @@
+{
+    "scale": 0.25,
+    "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": {
+        "left_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9396899938583374,
+                        0.0,
+                        -0.3420200049877167,
+                        0.0
+                    ],
+                    [
+                        -0.3213900029659271,
+                        -0.3420200049877167,
+                        -0.8830199837684631,
+                        0.9599999785423279
+                    ],
+                    [
+                        -0.11698000133037567,
+                        0.9396899938583374,
+                        -0.3213900029659271,
+                        0.20000000298023224
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "right_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9063100218772888,
+                        0.0,
+                        -0.4226199984550476,
+                        0.0
+                    ],
+                    [
+                        0.3461900055408478,
+                        -0.5735800266265869,
+                        0.7423999905586243,
+                        -0.9200000166893005
+                    ],
+                    [
+                        -0.24240000545978546,
+                        -0.8191499710083008,
+                        -0.5198400020599365,
+                        0.2800000011920929
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9848099946975708,
+                        0.0,
+                        0.17364999651908875,
+                        -0.00026000000070780516
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        0.0,
+                        0.026159999892115593
+                    ],
+                    [
+                        0.17364999651908875,
+                        -0.0,
+                        -0.9848099946975708,
+                        0.6014900207519531
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100038/result.json b/assets/urdf/Kitchenpot/100038/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d72f86f0f7d216b4cb8ae1edbb1db4f3e894e6f
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100038/result.json
@@ -0,0 +1 @@
+[{"text": "KitchenPot", "name": "KitchenPot", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-3", "original-6", "original-7", "original-5", "original-4", "original-1"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-8", "original-13", "original-11", "original-10", "original-14"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100038/result_original.json b/assets/urdf/Kitchenpot/100038/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b076c1f647847a3942fdfee844dff7e40dabaa1
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100038/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "KitchenPot", "text": "KitchenPot", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-3", "original-6", "original-7", "original-5", "original-4", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100038/semantics.txt b/assets/urdf/Kitchenpot/100038/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..604383c5f1e8de3b6a15902c9f29e3f2507c2c02
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100038/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free pot_body
diff --git a/assets/urdf/Kitchenpot/100040/bounding_box.json b/assets/urdf/Kitchenpot/100040/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbcacfd50ded48392db4188051395f50f0ea8bbb
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100040/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.956436, -0.693954, -0.759031], "max": [0.945932, 0.748896, 0.757647]}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100040/grasp_poses.json b/assets/urdf/Kitchenpot/100040/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b9dd1908d93d9038c1efa7531d81ec85dc90305
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100040/grasp_poses.json
@@ -0,0 +1,105 @@
+{
+    "object_name": "100040",
+    "scale": 0.25,
+    "grasp_parts": {
+        "left_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9659299850463867,
+                        -0.0,
+                        -0.2588199973106384,
+                        0.0
+                    ],
+                    [
+                        -0.24321000277996063,
+                        -0.3420200049877167,
+                        -0.9076700210571289,
+                        0.9200000166893005
+                    ],
+                    [
+                        -0.08851999789476395,
+                        0.9396899938583374,
+                        -0.3303700089454651,
+                        0.3199999928474426
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "right_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9004700183868408,
+                        0.04357999935746193,
+                        -0.4327299892902374,
+                        0.0
+                    ],
+                    [
+                        0.39445000886917114,
+                        -0.5009499788284302,
+                        0.770359992980957,
+                        -0.9200000166893005
+                    ],
+                    [
+                        -0.18321000039577484,
+                        -0.8643800020217896,
+                        -0.46827998757362366,
+                        0.3199999928474426
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        -0.08715999871492386,
+                        0.0
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        0.7200000286102295
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100040/meta.json b/assets/urdf/Kitchenpot/100040/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81ba1242808c22acfdc082ffc68c36e4eb3f6bcb
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100040/meta.json
@@ -0,0 +1 @@
+{"user_id": "fxiang", "model_cat": "KitchenPot", "model_id": "8532629c-7612-49e9-88bd-cffb6e9aea2e", "version": "1", "anno_id": "40", "time_in_sec": "19"}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100040/mobility.urdf b/assets/urdf/Kitchenpot/100040/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fce7d237cfdd94002957f7e4ec1d289f740b8421
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100040/mobility.urdf
@@ -0,0 +1,116 @@
+<?xml version="1.0" ?>
+<robot name="partnet_8532629c-7612-49e9-88bd-cffb6e9aea2e">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_1">
+		<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-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-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</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/Kitchenpot/100040/mobility_v2.json b/assets/urdf/Kitchenpot/100040/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e15c3bdeb56e048083fc160b6cf2c48119a122bd
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100040/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.02,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100040/model_data.json b/assets/urdf/Kitchenpot/100040/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..afecf9346ba6fc76d8439ab0dd22186611cd1b1e
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100040/model_data.json
@@ -0,0 +1,131 @@
+{
+    "scale": 0.25,
+    "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": {
+        "left_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9659299850463867,
+                        -0.0,
+                        -0.2588199973106384,
+                        0.0
+                    ],
+                    [
+                        -0.24321000277996063,
+                        -0.3420200049877167,
+                        -0.9076700210571289,
+                        0.9200000166893005
+                    ],
+                    [
+                        -0.08851999789476395,
+                        0.9396899938583374,
+                        -0.3303700089454651,
+                        0.3199999928474426
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "right_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9004700183868408,
+                        0.04357999935746193,
+                        -0.4327299892902374,
+                        0.0
+                    ],
+                    [
+                        0.39445000886917114,
+                        -0.5009499788284302,
+                        0.770359992980957,
+                        -0.9200000166893005
+                    ],
+                    [
+                        -0.18321000039577484,
+                        -0.8643800020217896,
+                        -0.46827998757362366,
+                        0.3199999928474426
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        -0.08715999871492386,
+                        0.0
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        0.7200000286102295
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100040/result.json b/assets/urdf/Kitchenpot/100040/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffe83731eabe29fed92d77308341c09bd36e3833
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100040/result.json
@@ -0,0 +1 @@
+[{"text": "KitchenPot", "name": "KitchenPot", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-4"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-3", "original-8", "original-9", "original-5", "original-6", "original-7", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100040/result_original.json b/assets/urdf/Kitchenpot/100040/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e5965ae77c404be410f7ee1a3271b521f31b5a7
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100040/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "KitchenPot", "text": "KitchenPot", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-4"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100040/semantics.txt b/assets/urdf/Kitchenpot/100040/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..604383c5f1e8de3b6a15902c9f29e3f2507c2c02
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100040/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free pot_body
diff --git a/assets/urdf/Kitchenpot/100047/bounding_box.json b/assets/urdf/Kitchenpot/100047/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf875bc8dcf69cbae0a2b7b9fcc64c3c0da67209
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100047/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.968149, -0.40365, -0.706973], "max": [0.94759, 0.581056, 0.754962]}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100047/grasp_poses.json b/assets/urdf/Kitchenpot/100047/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4cc738a030ee56b58e9b97a9b8cdb8cf07c5e77
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100047/grasp_poses.json
@@ -0,0 +1,105 @@
+{
+    "object_name": "100047",
+    "scale": 0.25,
+    "grasp_parts": {
+        "left_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9396899938583374,
+                        0.0,
+                        0.3420200049877167,
+                        0.0
+                    ],
+                    [
+                        -0.33682000637054443,
+                        0.17364999651908875,
+                        0.9254199862480164,
+                        -0.9200000166893005
+                    ],
+                    [
+                        -0.059390000998973846,
+                        -0.9848099946975708,
+                        0.16317999362945557,
+                        0.2800000011920929
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "right_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.7071099877357483,
+                        0.0,
+                        0.7071099877357483,
+                        -0.03999999910593033
+                    ],
+                    [
+                        0.6830099821090698,
+                        -0.2588199973106384,
+                        -0.6830099821090698,
+                        0.9599999785423279
+                    ],
+                    [
+                        0.18300999701023102,
+                        0.9659299850463867,
+                        -0.18300999701023102,
+                        0.2800000011920929
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -1.0,
+                        -0.0,
+                        -0.0,
+                        -0.0
+                    ],
+                    [
+                        0.0,
+                        0.9961900115013123,
+                        -0.08715999871492386,
+                        -0.003490000031888485
+                    ],
+                    [
+                        0.0,
+                        -0.08715999871492386,
+                        -0.9961900115013123,
+                        0.5601500272750854
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100047/meta.json b/assets/urdf/Kitchenpot/100047/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..474aba6bd01ec39822df93e60d17c9d0bc97c9fa
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100047/meta.json
@@ -0,0 +1 @@
+{"user_id": "fxiang", "model_cat": "KitchenPot", "model_id": "d362a777-a416-46e0-ba51-13466ea1da9b", "version": "1", "anno_id": "47", "time_in_sec": "64"}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100047/mobility.urdf b/assets/urdf/Kitchenpot/100047/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..67fc39090e6501da438468bc84b54087ef1a4340
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100047/mobility.urdf
@@ -0,0 +1,428 @@
+<?xml version="1.0" ?>
+<robot name="partnet_d362a777-a416-46e0-ba51-13466ea1da9b">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<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-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.07"/>
+	</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-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.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-33.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-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-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-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-7.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-14.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-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-33.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-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-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-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/Kitchenpot/100047/mobility_v2.json b/assets/urdf/Kitchenpot/100047/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..001ffdc04736da8a03b2882607b11fed5d476462
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100047/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.07,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100047/model_data.json b/assets/urdf/Kitchenpot/100047/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..316bff588a891bfeb5b6cef75f031592dd603ef5
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100047/model_data.json
@@ -0,0 +1,131 @@
+{
+    "scale": 0.25,
+    "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": {
+        "left_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9396899938583374,
+                        0.0,
+                        0.3420200049877167,
+                        0.0
+                    ],
+                    [
+                        -0.33682000637054443,
+                        0.17364999651908875,
+                        0.9254199862480164,
+                        -0.9200000166893005
+                    ],
+                    [
+                        -0.059390000998973846,
+                        -0.9848099946975708,
+                        0.16317999362945557,
+                        0.2800000011920929
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "right_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.7071099877357483,
+                        0.0,
+                        0.7071099877357483,
+                        -0.03999999910593033
+                    ],
+                    [
+                        0.6830099821090698,
+                        -0.2588199973106384,
+                        -0.6830099821090698,
+                        0.9599999785423279
+                    ],
+                    [
+                        0.18300999701023102,
+                        0.9659299850463867,
+                        -0.18300999701023102,
+                        0.2800000011920929
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -1.0,
+                        -0.0,
+                        -0.0,
+                        -0.0
+                    ],
+                    [
+                        0.0,
+                        0.9961900115013123,
+                        -0.08715999871492386,
+                        -0.003490000031888485
+                    ],
+                    [
+                        0.0,
+                        -0.08715999871492386,
+                        -0.9961900115013123,
+                        0.5601500272750854
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100047/result.json b/assets/urdf/Kitchenpot/100047/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d6075bf131c42c505ff5aa7b120528ea48c1e89
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100047/result.json
@@ -0,0 +1 @@
+[{"text": "KitchenPot", "name": "KitchenPot", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-36", "original-35", "original-37"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-29", "original-21", "original-30", "original-28", "original-22", "original-26", "original-4", "original-33", "original-2", "original-16", "original-8", "original-13", "original-9", "original-5", "original-27", "original-6", "original-31", "original-15", "original-23", "original-11", "original-18", "original-25", "original-17", "original-12", "original-24", "original-20", "original-32", "original-7", "original-10", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100047/result_original.json b/assets/urdf/Kitchenpot/100047/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7b50466b63a7d249f23bbb1a119d0fe83d5b6a1
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100047/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "KitchenPot", "text": "KitchenPot", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-36", "original-35", "original-37"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100047/semantics.txt b/assets/urdf/Kitchenpot/100047/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..604383c5f1e8de3b6a15902c9f29e3f2507c2c02
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100047/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free pot_body
diff --git a/assets/urdf/Kitchenpot/100057/bounding_box.json b/assets/urdf/Kitchenpot/100057/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fa18e2cff822edc3013c819b77710c90597a270
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100057/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.97934, -0.470023, -0.723525], "max": [1.015709, 0.656818, 0.712383]}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100057/grasp_poses.json b/assets/urdf/Kitchenpot/100057/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c95f820ff43c0fa2b2f1f4adc98d29fd83054d5
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100057/grasp_poses.json
@@ -0,0 +1,105 @@
+{
+    "object_name": "100057",
+    "scale": 0.25,
+    "grasp_parts": {
+        "left_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9923999905586243,
+                        0.1009100005030632,
+                        -0.07037000358104706,
+                        -0.0
+                    ],
+                    [
+                        0.08715999871492386,
+                        0.17298999428749084,
+                        -0.9810600280761719,
+                        0.9599999785423279
+                    ],
+                    [
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+                        -0.9797400236129761,
+                        -0.18047000467777252,
+                        0.23999999463558197
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "right_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        1.0,
+                        -0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -0.0,
+                        -0.2588199973106384,
+                        0.9659299850463867,
+                        -1.0
+                    ],
+                    [
+                        -0.0,
+                        -0.9659299850463867,
+                        -0.2588199973106384,
+                        0.23999999463558197
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        1.0,
+                        0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        -1.0,
+                        -0.0,
+                        -0.03999999910593033
+                    ],
+                    [
+                        -0.0,
+                        0.0,
+                        -1.0,
+                        0.6399999856948853
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100057/meta.json b/assets/urdf/Kitchenpot/100057/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3a6ddc3d98e15a36129709f02acd356aa12b80f
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100057/meta.json
@@ -0,0 +1 @@
+{"user_id": "fxiang", "model_cat": "KitchenPot", "model_id": "uc541d7b9-362c-4cdf-9a52-ab07c0bd80d4", "version": "1", "anno_id": "57", "time_in_sec": "25"}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100057/mobility.urdf b/assets/urdf/Kitchenpot/100057/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..82b7b686cd7900b858d5ae3c0d5a49bcff85621d
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100057/mobility.urdf
@@ -0,0 +1,200 @@
+<?xml version="1.0" ?>
+<robot name="partnet_uc541d7b9-362c-4cdf-9a52-ab07c0bd80d4">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<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-12.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-19.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-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.07"/>
+	</joint>
+	<link name="link_1">
+		<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-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-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-18.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-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-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-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-7.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/Kitchenpot/100057/mobility_v2.json b/assets/urdf/Kitchenpot/100057/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..001ffdc04736da8a03b2882607b11fed5d476462
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100057/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.07,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100057/model_data.json b/assets/urdf/Kitchenpot/100057/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..68d8a00399c0e69ffc72c91e450f52909e4a9bf0
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100057/model_data.json
@@ -0,0 +1,131 @@
+{
+    "scale": 0.25,
+    "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": {
+        "left_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9923999905586243,
+                        0.1009100005030632,
+                        -0.07037000358104706,
+                        -0.0
+                    ],
+                    [
+                        0.08715999871492386,
+                        0.17298999428749084,
+                        -0.9810600280761719,
+                        0.9599999785423279
+                    ],
+                    [
+                        -0.08681999891996384,
+                        -0.9797400236129761,
+                        -0.18047000467777252,
+                        0.23999999463558197
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "right_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        1.0,
+                        -0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -0.0,
+                        -0.2588199973106384,
+                        0.9659299850463867,
+                        -1.0
+                    ],
+                    [
+                        -0.0,
+                        -0.9659299850463867,
+                        -0.2588199973106384,
+                        0.23999999463558197
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        1.0,
+                        0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        -1.0,
+                        -0.0,
+                        -0.03999999910593033
+                    ],
+                    [
+                        -0.0,
+                        0.0,
+                        -1.0,
+                        0.6399999856948853
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100057/result.json b/assets/urdf/Kitchenpot/100057/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..972c28bdd5e241344abd7647d4674ad5ec20230d
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100057/result.json
@@ -0,0 +1 @@
+[{"text": "KitchenPot", "name": "KitchenPot", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-14", "original-12", "original-11", "original-19", "original-20", "original-15"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-3", "original-2", "original-16", "original-8", "original-5", "original-6", "original-18", "original-17", "original-7"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100057/result_original.json b/assets/urdf/Kitchenpot/100057/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e265932b411cdfa78cabf82ae4613ec8d9b318b
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100057/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "KitchenPot", "text": "KitchenPot", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-14", "original-12", "original-11", "original-19", "original-20", "original-15"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100057/semantics.txt b/assets/urdf/Kitchenpot/100057/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..604383c5f1e8de3b6a15902c9f29e3f2507c2c02
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100057/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free pot_body
diff --git a/assets/urdf/Kitchenpot/100623/semantics.txt b/assets/urdf/Kitchenpot/100623/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..604383c5f1e8de3b6a15902c9f29e3f2507c2c02
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100623/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free pot_body
diff --git a/assets/urdf/Kitchenpot/100693/grasp_poses.json b/assets/urdf/Kitchenpot/100693/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..814f0e360a607760d0d09a3efbea77e8692cafa8
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100693/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+    "object_name": "100693",
+    "scale": 0.25,
+    "grasp_parts": {
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9848099946975708,
+                        -0.0,
+                        0.17364999651908875,
+                        0.006949999835342169
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        -0.0,
+                        0.03999999910593033
+                    ],
+                    [
+                        -0.17364999651908875,
+                        -0.0,
+                        -0.9848099946975708,
+                        0.27939000725746155
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        1.0,
+                        -0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -0.0,
+                        -0.2588199973106384,
+                        0.9659299850463867,
+                        -1.0813599824905396
+                    ],
+                    [
+                        -0.0,
+                        -0.9659299850463867,
+                        -0.2588199973106384,
+                        0.10965000092983246
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100693/meta.json b/assets/urdf/Kitchenpot/100693/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e24559253a292f1c5a6c6504d64493e3fd520ca8
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100693/meta.json
@@ -0,0 +1 @@
+{"user_id": "fxiang", "model_cat": "KitchenPot", "model_id": "d9560bfc0c051109f54e1b6f41fdd78a", "version": "1", "anno_id": "693", "time_in_sec": "35"}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100693/mobility.urdf b/assets/urdf/Kitchenpot/100693/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..52af4cb5a26d1cc1b50221e10c1ef4c39e730c47
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100693/mobility.urdf
@@ -0,0 +1,104 @@
+<?xml version="1.0" ?>
+<robot name="partnet_d9560bfc0c051109f54e1b6f41fdd78a">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<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-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_1">
+		<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-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-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-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/Kitchenpot/100693/mobility_v2.json b/assets/urdf/Kitchenpot/100693/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e15c3bdeb56e048083fc160b6cf2c48119a122bd
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100693/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.02,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100693/model_data.json b/assets/urdf/Kitchenpot/100693/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a555a0e2acface14e543c765fe7baf6de29762a7
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100693/model_data.json
@@ -0,0 +1,98 @@
+{
+    "scale": 0.25,
+    "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": {
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.9848099946975708,
+                        -0.0,
+                        0.17364999651908875,
+                        0.006949999835342169
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        -0.0,
+                        0.03999999910593033
+                    ],
+                    [
+                        -0.17364999651908875,
+                        -0.0,
+                        -0.9848099946975708,
+                        0.27939000725746155
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        1.0,
+                        -0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -0.0,
+                        -0.2588199973106384,
+                        0.9659299850463867,
+                        -1.0813599824905396
+                    ],
+                    [
+                        -0.0,
+                        -0.9659299850463867,
+                        -0.2588199973106384,
+                        0.10965000092983246
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100693/result.json b/assets/urdf/Kitchenpot/100693/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ba81861181db64b216296fb055cb67664d31ce5
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100693/result.json
@@ -0,0 +1 @@
+[{"text": "KitchenPot", "name": "KitchenPot", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-7", "original-8", "original-6"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-9", "original-5", "original-1", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100693/result_original.json b/assets/urdf/Kitchenpot/100693/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6f5a4677ed501b90530fc271526448efc5707c5
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100693/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "KitchenPot", "text": "KitchenPot", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-7", "original-8", "original-6"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/100693/semantics.txt b/assets/urdf/Kitchenpot/100693/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..604383c5f1e8de3b6a15902c9f29e3f2507c2c02
--- /dev/null
+++ b/assets/urdf/Kitchenpot/100693/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free pot_body
diff --git a/assets/urdf/Kitchenpot/102080/bounding_box.json b/assets/urdf/Kitchenpot/102080/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c95c3c55594b34a878d327ccc64e8cc727a894b
--- /dev/null
+++ b/assets/urdf/Kitchenpot/102080/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.972144, -0.631522, -0.740037], "max": [1.013014, 0.829192, 0.752435]}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/102080/grasp_poses.json b/assets/urdf/Kitchenpot/102080/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..931f517cd4a5ec087de5c6764633330b578302e2
--- /dev/null
+++ b/assets/urdf/Kitchenpot/102080/grasp_poses.json
@@ -0,0 +1,105 @@
+{
+    "object_name": "102080",
+    "scale": 0.25,
+    "grasp_parts": {
+        "left_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        1.0,
+                        -0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -0.0,
+                        0.3420200049877167,
+                        -0.9396899938583374,
+                        0.9599999785423279
+                    ],
+                    [
+                        0.0,
+                        0.9396899938583374,
+                        0.3420200049877167,
+                        0.2800000011920929
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "right_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        1.0,
+                        -0.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        -0.0,
+                        0.3420200049877167,
+                        0.9396899938583374,
+                        -1.0136799812316895
+                    ],
+                    [
+                        -0.0,
+                        -0.9396899938583374,
+                        0.3420200049877167,
+                        0.2775900065898895
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.003490000031888485
+                    ],
+                    [
+                        0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        0.8398500084877014
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/102080/meta.json b/assets/urdf/Kitchenpot/102080/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0a33748bb22ba0126dd4bf93d165c483ccda77b
--- /dev/null
+++ b/assets/urdf/Kitchenpot/102080/meta.json
@@ -0,0 +1 @@
+{"user_id": "fxiang", "model_cat": "KitchenPot", "model_id": "a5b87eca5bbd0342b80b68728684f2ff-0", "version": "1", "anno_id": "2080", "time_in_sec": "16"}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/102080/mobility.urdf b/assets/urdf/Kitchenpot/102080/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59e8c0f6f706b127666f5a24001b7d937a10c7de
--- /dev/null
+++ b/assets/urdf/Kitchenpot/102080/mobility.urdf
@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<robot name="partnet_a5b87eca5bbd0342b80b68728684f2ff-0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_1">
+		<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-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</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/Kitchenpot/102080/mobility_v2.json b/assets/urdf/Kitchenpot/102080/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e15c3bdeb56e048083fc160b6cf2c48119a122bd
--- /dev/null
+++ b/assets/urdf/Kitchenpot/102080/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":1,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.02,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/102080/model_data.json b/assets/urdf/Kitchenpot/102080/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..96246e731ccbc5063068211507c35e93db1e6487
--- /dev/null
+++ b/assets/urdf/Kitchenpot/102080/model_data.json
@@ -0,0 +1,131 @@
+{
+    "scale": 0.25,
+    "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": {
+        "left_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        1.0,
+                        -0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -0.0,
+                        0.3420200049877167,
+                        -0.9396899938583374,
+                        0.9599999785423279
+                    ],
+                    [
+                        0.0,
+                        0.9396899938583374,
+                        0.3420200049877167,
+                        0.2800000011920929
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "right_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        1.0,
+                        -0.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        -0.0,
+                        0.3420200049877167,
+                        0.9396899938583374,
+                        -1.0136799812316895
+                    ],
+                    [
+                        -0.0,
+                        -0.9396899938583374,
+                        0.3420200049877167,
+                        0.2775900065898895
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "up_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.003490000031888485
+                    ],
+                    [
+                        0.08715999871492386,
+                        0.0,
+                        -0.9961900115013123,
+                        0.8398500084877014
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/102080/result.json b/assets/urdf/Kitchenpot/102080/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..b675f3259374bca00c8854e0a7a6da3514854a7c
--- /dev/null
+++ b/assets/urdf/Kitchenpot/102080/result.json
@@ -0,0 +1 @@
+[{"text": "KitchenPot", "name": "KitchenPot", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-2", "original-3"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-5", "original-6", "original-7"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/102080/result_original.json b/assets/urdf/Kitchenpot/102080/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..780a2b353493ddf6864bb1cb2af61a226b2fbab1
--- /dev/null
+++ b/assets/urdf/Kitchenpot/102080/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "KitchenPot", "text": "KitchenPot", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-2", "original-3"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Kitchenpot/102080/semantics.txt b/assets/urdf/Kitchenpot/102080/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..604383c5f1e8de3b6a15902c9f29e3f2507c2c02
--- /dev/null
+++ b/assets/urdf/Kitchenpot/102080/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider lid
+link_1 free pot_body