diff --git a/assets/objects/005_french-fries/model_data3.json b/assets/objects/005_french-fries/model_data3.json
new file mode 100644
index 0000000000000000000000000000000000000000..e226a482498fd6ca27a42330497d84112e855049
--- /dev/null
+++ b/assets/objects/005_french-fries/model_data3.json
@@ -0,0 +1,141 @@
+{
+ "center": [
+ -0.030662170441349126,
+ 0.9511016047159342,
+ -0.0007117075407647667
+ ],
+ "extents": [
+ 1.7504202872575876,
+ 1.9296056354579005,
+ 1.16506650349632
+ ],
+ "scale": [
+ 0.043,
+ 0.043,
+ 0.043
+ ],
+ "transform_matrix": [
+ [
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+ 0.0,
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+ [
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+ ]
+ ],
+ "target_pose": [],
+ "contact_points_pose": [
+ [
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+ "orientation_point": [],
+ "contact_points_group": [
+ [
+ 0,
+ 1
+ ]
+ ],
+ "contact_points_mask": [
+ true
+ ],
+ "target_point_discription": [],
+ "contact_points_discription": [],
+ "functional_point_discription": [],
+ "orientation_point_discription": [],
+ "stable": true
+}
\ No newline at end of file
diff --git a/assets/objects/007_shoe-box/collision/base0.glb b/assets/objects/007_shoe-box/collision/base0.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a9657a141360b917f545de5a880f0e85bc0cc3b3
Binary files /dev/null and b/assets/objects/007_shoe-box/collision/base0.glb differ
diff --git a/assets/objects/007_shoe-box/model_data0.json b/assets/objects/007_shoe-box/model_data0.json
new file mode 100644
index 0000000000000000000000000000000000000000..67bc57b14a6bccc61806ee5b8c7835ccdfb6207b
--- /dev/null
+++ b/assets/objects/007_shoe-box/model_data0.json
@@ -0,0 +1,147 @@
+{
+ "center": [
+ -3.4861359827879225e-08,
+ 0.12311224462160086,
+ 7.57163231006507e-08
+ ],
+ "extents": [
+ 0.3837449773574174,
+ 0.2462297110744051,
+ 0.6512750497063806
+ ],
+ "scale": [
+ 0.47,
+ 0.43,
+ 0.4
+ ],
+ "transform_matrix": [
+ [
+ 1.0,
+ 0.0,
+ 0.0,
+ 0.0
+ ],
+ [
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+ 1.0,
+ 0.0,
+ 0.0
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+ [
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+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "target_pose": [
+ [
+ [
+ 1.0,
+ 0.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ -0.0,
+ 0.0
+ ],
+ [
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+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ ],
+ "contact_points_pose": [],
+ "functional_matrix": [
+ [
+ [
+ 1.0,
+ 0.0,
+ 0.0,
+ 0.09000000357627869
+ ],
+ [
+ 0.0,
+ 0.0,
+ -1.0,
+ 0.1499999940395355
+ ],
+ [
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+ 1.0,
+ 0.0,
+ -0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ [
+ [
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+ 0.0,
+ 0.0,
+ -0.09000000357627869
+ ],
+ [
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+ 0.1499999940395355
+ ],
+ [
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+ 1.0,
+ 0.0,
+ -0.0
+ ],
+ [
+ 0.0,
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+ 0.0,
+ 1.0
+ ]
+ ]
+ ],
+ "orientation_point": [],
+ "contact_points_group": [
+ [
+ 0
+ ]
+ ],
+ "contact_points_mask": [
+ true
+ ],
+ "target_point_discription": [
+ "The center of the object."
+ ],
+ "contact_points_discription": [],
+ "functional_point_discription": [
+ "Functional point",
+ "Functional point"
+ ],
+ "orientation_point_discription": [
+ ""
+ ],
+ "stable": true
+}
\ No newline at end of file
diff --git a/assets/objects/007_shoe-box/points_info.json b/assets/objects/007_shoe-box/points_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5685451a330303a74b8dda6f0582e84d5b86ffb
--- /dev/null
+++ b/assets/objects/007_shoe-box/points_info.json
@@ -0,0 +1,15 @@
+{
+ "contact_points": [],
+ "functional_points": [
+ {
+ "id": 0,
+ "description": "Placement point 1 on the top of the shoe box.",
+ "usage": "Used to indicate where to place other objects inside the shoebox."
+ },
+ {
+ "id": 1,
+ "description": "Placement point 2 on the top of the shoe box.",
+ "usage": "Used to indicate where to place other objects inside the shoebox."
+ }
+ ]
+}
\ No newline at end of file
diff --git a/assets/objects/009_kettle/102738/bounding_box.json b/assets/objects/009_kettle/102738/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b0acfed9a14a2fcd64cb3a0f269696497180d07
--- /dev/null
+++ b/assets/objects/009_kettle/102738/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.465986, -0.455997, -0.506447], "max": [0.466087, 0.995324, 0.809398]}
\ No newline at end of file
diff --git a/assets/objects/009_kettle/102738/meta.json b/assets/objects/009_kettle/102738/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4726d9b2280d6e34eaa8438ecc9e7cce7aa1f415
--- /dev/null
+++ b/assets/objects/009_kettle/102738/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Kettle", "model_id": "5d1f1c42d0509ab3bda72093f9b5aa73", "version": "1", "anno_id": "2738", "time_in_sec": "51"}
\ No newline at end of file
diff --git a/assets/objects/009_kettle/102738/mobility.urdf b/assets/objects/009_kettle/102738/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1debcd6479433fbbe5e9eab4f5a9ca12e9aa4a50
--- /dev/null
+++ b/assets/objects/009_kettle/102738/mobility.urdf
@@ -0,0 +1,197 @@
+
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diff --git a/assets/objects/009_kettle/102738/mobility_v2.json b/assets/objects/009_kettle/102738/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9bf34c219f60ba5c678abb637fd6f84b2bc205a
--- /dev/null
+++ b/assets/objects/009_kettle/102738/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "slider", "name": "lid", "parts": [{"id": 1, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 0.01, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "handle", "parts": [{"id": 2, "name": "handle", "children": []}], "jointData": {"axis": {"origin": [0.000831733297923784, 0.3366002841303108, -2.500235456635306e-05], "direction": [-0.01918830753714174, -2.685142386080708e-05, -0.999815887117654]}, "limit": {"a": -480, "b": -240, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/objects/009_kettle/102738/result.json b/assets/objects/009_kettle/102738/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a3b8fffe75912d4e74816b01065212012e5791f
--- /dev/null
+++ b/assets/objects/009_kettle/102738/result.json
@@ -0,0 +1 @@
+[{"text": "Kettle", "name": "Kettle", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-3", "original-2"]}, {"text": "handle", "name": "handle", "id": 2, "objs": ["original-4", "original-10", "original-14", "original-9", "original-5", "original-13", "original-8"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-6", "original-11", "original-12", "original-7", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/objects/009_kettle/102738/result_original.json b/assets/objects/009_kettle/102738/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..31581f9448c6a0468c04e22d41348bd3b905673c
--- /dev/null
+++ b/assets/objects/009_kettle/102738/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Kettle", "text": "Kettle", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-3", "original-2"]}, {"id": 2, "name": "handle", "text": "handle", "objs": ["original-4", "original-10", "original-14", "original-9", "original-5", "original-13", "original-8"]}]}]
\ No newline at end of file
diff --git a/assets/objects/009_kettle/102738/semantics.txt b/assets/objects/009_kettle/102738/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0708eb3421edd4d7bcaa26de2988badf28ba5550
--- /dev/null
+++ b/assets/objects/009_kettle/102738/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider lid
+link_1 hinge handle
+link_2 free kettle_body
diff --git a/assets/objects/009_kettle/102738/textured_objs/original-1.mtl b/assets/objects/009_kettle/102738/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2c75026d431a538c666fa45c70a3834619ea742c
--- /dev/null
+++ b/assets/objects/009_kettle/102738/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.5568627450980392 0.5647058823529412 0.6
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/objects/009_kettle/102738/textured_objs/original-1.obj b/assets/objects/009_kettle/102738/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9875be5a8b5fbfb0d8dcb70d067368383d050fe
--- /dev/null
+++ b/assets/objects/009_kettle/102738/textured_objs/original-1.obj
@@ -0,0 +1,22439 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/assets/objects/009_kettle/102738/textured_objs/original-10.obj b/assets/objects/009_kettle/102738/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38ac88b40fea521a516b0d0eac22000b0e3724de
--- /dev/null
+++ b/assets/objects/009_kettle/102738/textured_objs/original-10.obj
@@ -0,0 +1,6240 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/assets/objects/009_kettle/102738/textured_objs/original-11.obj b/assets/objects/009_kettle/102738/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9e047d30781d8ccc51c1b8cb19e7b258c5c9280
--- /dev/null
+++ b/assets/objects/009_kettle/102738/textured_objs/original-11.obj
@@ -0,0 +1,862 @@
+# SSTK version 0.8.0
+# 11
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diff --git a/assets/objects/009_kettle/102738/textured_objs/original-12.obj b/assets/objects/009_kettle/102738/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..075ed5ba0c193368ce82d62818ba20e97bac17d5
--- /dev/null
+++ b/assets/objects/009_kettle/102738/textured_objs/original-12.obj
@@ -0,0 +1,270 @@
+# SSTK version 0.8.0
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new file mode 100644
index 0000000000000000000000000000000000000000..16eef1704aba2a93f0c7ab9365a77887c8704a81
--- /dev/null
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diff --git a/assets/objects/009_kettle/102738/textured_objs/original-2.mtl b/assets/objects/009_kettle/102738/textured_objs/original-2.mtl
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index 0000000000000000000000000000000000000000..2c75026d431a538c666fa45c70a3834619ea742c
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diff --git a/assets/objects/009_kettle/102738/textured_objs/original-2.obj b/assets/objects/009_kettle/102738/textured_objs/original-2.obj
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index 0000000000000000000000000000000000000000..92739488bc9d64ee7bdcf1bbfc8b826120594fda
--- /dev/null
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diff --git a/assets/objects/009_kettle/102738/textured_objs/original-3.mtl b/assets/objects/009_kettle/102738/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..62d96fff8e944357191283f71e0be519b290fbbb
--- /dev/null
+++ b/assets/objects/009_kettle/102738/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.058823529411764705 0.07450980392156863 0.08627450980392157
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/objects/009_kettle/102738/textured_objs/original-3.obj b/assets/objects/009_kettle/102738/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1cdc1768ae719c16659007adb212a9267b40a60
--- /dev/null
+++ b/assets/objects/009_kettle/102738/textured_objs/original-3.obj
@@ -0,0 +1,2658 @@
+# SSTK version 0.8.0
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diff --git a/assets/objects/009_kettle/102738/textured_objs/original-4.obj b/assets/objects/009_kettle/102738/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb3f35a3f15a7dc5437afd90bbb17ac5bad5e329
--- /dev/null
+++ b/assets/objects/009_kettle/102738/textured_objs/original-4.obj
@@ -0,0 +1,4316 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/assets/objects/009_kettle/102738/textured_objs/original-6.mtl b/assets/objects/009_kettle/102738/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..737589143c9d79af1e15147fbcc5a905cd866120
--- /dev/null
+++ b/assets/objects/009_kettle/102738/textured_objs/original-6.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.36470588235294116 0.30980392156862746 0.23921568627450981
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/objects/009_kettle/points_info.json b/assets/objects/009_kettle/points_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dab9fd422829da2e84453a5a03da4fc9df7697f0
--- /dev/null
+++ b/assets/objects/009_kettle/points_info.json
@@ -0,0 +1,4 @@
+{
+ "contact_points": [],
+ "functional_points": []
+}
\ No newline at end of file
diff --git a/assets/objects/020_hammer/model_data0.json b/assets/objects/020_hammer/model_data0.json
new file mode 100644
index 0000000000000000000000000000000000000000..37a587eeec67a2fbc6444126bfea56db230774e8
--- /dev/null
+++ b/assets/objects/020_hammer/model_data0.json
@@ -0,0 +1,171 @@
+{
+ "center": [
+ -0.00757444838945677,
+ 0.08699159267841129,
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+ 0.079
+ ],
+ "target_pose": [
+ [
+ [
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+ 0.0
+ ],
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+ ],
+ "contact_points_pose": [
+ [
+ [
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+ 1.0
+ ]
+ ],
+ "contact_points_group": [
+ [
+ 0
+ ]
+ ],
+ "contact_points_mask": [
+ true
+ ],
+ "contact_points_discription": [
+ "Grab the hammer's handle with the head facing outward."
+ ],
+ "target_point_discription": [
+ "The center of the object."
+ ],
+ "functional_point_discription": [
+ "Point 0: The head of the hammer is facing outward."
+ ],
+ "stable": false
+}
\ No newline at end of file
diff --git a/assets/objects/020_hammer/points_info.json b/assets/objects/020_hammer/points_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3513aa877f2335d67b963917cfe40d15251aa810
--- /dev/null
+++ b/assets/objects/020_hammer/points_info.json
@@ -0,0 +1,16 @@
+{
+ "contact_points": [
+ {
+ "id": 0,
+ "description": "On the hammer handle",
+ "usage": " Used to grasp the hammer with the left or right arm."
+ }
+ ],
+ "functional_points": [
+ {
+ "id": 0,
+ "description": "On the hammer head",
+ "usage": " Used to hit the block on the table."
+ }
+ ]
+}
\ No newline at end of file
diff --git a/assets/objects/029_olive-oil/model_data1.json b/assets/objects/029_olive-oil/model_data1.json
new file mode 100644
index 0000000000000000000000000000000000000000..f79bc8c9288468653b545cfaa6e53a5ef1ce54e0
--- /dev/null
+++ b/assets/objects/029_olive-oil/model_data1.json
@@ -0,0 +1,13 @@
+{
+ "stable": true,
+ "center": [
+ -5.001202225677304e-06,
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+ ],
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+}
\ No newline at end of file
diff --git a/assets/objects/029_olive-oil/model_data2.json b/assets/objects/029_olive-oil/model_data2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d6e442827255352e419ebc5763c0a4f98c99f77
--- /dev/null
+++ b/assets/objects/029_olive-oil/model_data2.json
@@ -0,0 +1,13 @@
+{
+ "stable": true,
+ "center": [
+ -1.3124338193820562e-05,
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+ ],
+ "extents": [
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+ ]
+}
\ No newline at end of file
diff --git a/assets/objects/029_olive-oil/model_data3.json b/assets/objects/029_olive-oil/model_data3.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5dd8a6773935c609c965ecf6e2233818c6a0914
--- /dev/null
+++ b/assets/objects/029_olive-oil/model_data3.json
@@ -0,0 +1,13 @@
+{
+ "stable": true,
+ "center": [
+ -5.831214138897949e-06,
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+ ],
+ "extents": [
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+ ]
+}
\ No newline at end of file
diff --git a/assets/objects/029_olive-oil/model_data4.json b/assets/objects/029_olive-oil/model_data4.json
new file mode 100644
index 0000000000000000000000000000000000000000..f529f0b3c7b239b4b5b2278a8bfab147ce02b8f4
--- /dev/null
+++ b/assets/objects/029_olive-oil/model_data4.json
@@ -0,0 +1,13 @@
+{
+ "stable": true,
+ "center": [
+ -1.803040504457424e-06,
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+ ],
+ "extents": [
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+ ]
+}
\ No newline at end of file
diff --git a/assets/objects/030_drill/model_data0.json b/assets/objects/030_drill/model_data0.json
new file mode 100644
index 0000000000000000000000000000000000000000..94c0014aeec4e27b8281f5762dabbe7244588eed
--- /dev/null
+++ b/assets/objects/030_drill/model_data0.json
@@ -0,0 +1,108 @@
+{
+ "center": [
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+ "target_point_discription": [],
+ "contact_points_discription": [],
+ "functional_point_discription": [],
+ "orientation_point_discription": [],
+ "stable": false
+}
\ No newline at end of file
diff --git a/assets/objects/030_drill/model_data1.json b/assets/objects/030_drill/model_data1.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3d987c2ee48f150f6274eab967186b89a2ea9ed
--- /dev/null
+++ b/assets/objects/030_drill/model_data1.json
@@ -0,0 +1,108 @@
+{
+ "center": [
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+ "orientation_point": [],
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+ "target_point_discription": [],
+ "contact_points_discription": [],
+ "functional_point_discription": [],
+ "orientation_point_discription": [],
+ "stable": false
+}
\ No newline at end of file
diff --git a/assets/objects/030_drill/model_data2.json b/assets/objects/030_drill/model_data2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef4e09fe803e0aec91173fbdf2117ac13bead5fb
--- /dev/null
+++ b/assets/objects/030_drill/model_data2.json
@@ -0,0 +1,108 @@
+{
+ "center": [
+ -0.001665671731421797,
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+ "orientation_point_discription": [],
+ "stable": false
+}
\ No newline at end of file
diff --git a/assets/objects/030_drill/model_data3.json b/assets/objects/030_drill/model_data3.json
new file mode 100644
index 0000000000000000000000000000000000000000..493c3ad763aafb02c4ffc79220672620fda37614
--- /dev/null
+++ b/assets/objects/030_drill/model_data3.json
@@ -0,0 +1,108 @@
+{
+ "center": [
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+ "orientation_point": [],
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+ "target_point_discription": [],
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+ "orientation_point_discription": [],
+ "stable": false
+}
\ No newline at end of file
diff --git a/assets/objects/030_drill/model_data4.json b/assets/objects/030_drill/model_data4.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b3e677c254e6a3a91617a57e1263d5e683a5d9f
--- /dev/null
+++ b/assets/objects/030_drill/model_data4.json
@@ -0,0 +1,108 @@
+{
+ "center": [
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diff --git a/assets/objects/030_drill/model_data5.json b/assets/objects/030_drill/model_data5.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e1efdf3b71a29c31847c3c8e3b8678c85201279
--- /dev/null
+++ b/assets/objects/030_drill/model_data5.json
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diff --git a/assets/objects/030_drill/model_data6.json b/assets/objects/030_drill/model_data6.json
new file mode 100644
index 0000000000000000000000000000000000000000..024e5d1d2cb18bdf91491b742f780239dc5e2ac6
--- /dev/null
+++ b/assets/objects/030_drill/model_data6.json
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\ No newline at end of file
diff --git a/assets/objects/030_drill/points_info.json b/assets/objects/030_drill/points_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2412a92c5659d9f5d31433a566a4b41fdde5764
--- /dev/null
+++ b/assets/objects/030_drill/points_info.json
@@ -0,0 +1,16 @@
+{
+ "contact_points": [
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+ "id": 0,
+ "description": "On the handle of the drill",
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+ }
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+ "description": "At the center of the drill bit",
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+ }
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+}
\ No newline at end of file
diff --git a/assets/objects/035_apple/points_info.json b/assets/objects/035_apple/points_info.json
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index 0000000000000000000000000000000000000000..acdc8672a09d9452473f7d7dae08bb7ca284aa8a
--- /dev/null
+++ b/assets/objects/035_apple/points_info.json
@@ -0,0 +1,10 @@
+{
+ "contact_points": [
+ {
+ "id": [0, 1, 2, 3],
+ "description": "At the center of the apple",
+ "usage": "Used for grasping the apple from top down."
+ }
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+ "functional_points": []
+}
\ No newline at end of file
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+++ b/assets/objects/038_milk-box/model_data0.json
@@ -0,0 +1,13 @@
+{
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\ No newline at end of file
diff --git a/assets/objects/038_milk-box/model_data1.json b/assets/objects/038_milk-box/model_data1.json
new file mode 100644
index 0000000000000000000000000000000000000000..db4079abd527b46439991004276dc57196080d2a
--- /dev/null
+++ b/assets/objects/038_milk-box/model_data1.json
@@ -0,0 +1,13 @@
+{
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\ No newline at end of file
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--- /dev/null
+++ b/assets/objects/038_milk-box/model_data2.json
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new file mode 100644
index 0000000000000000000000000000000000000000..dab9fd422829da2e84453a5a03da4fc9df7697f0
--- /dev/null
+++ b/assets/objects/038_milk-box/points_info.json
@@ -0,0 +1,4 @@
+{
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+ "functional_points": []
+}
\ No newline at end of file
diff --git a/assets/objects/047_mouse/model_data1.json b/assets/objects/047_mouse/model_data1.json
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index 0000000000000000000000000000000000000000..8b66d89d5c65a95595f7636d3265dc66026fcfc6
--- /dev/null
+++ b/assets/objects/047_mouse/model_data1.json
@@ -0,0 +1,114 @@
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\ No newline at end of file
diff --git a/assets/objects/047_mouse/model_data2.json b/assets/objects/047_mouse/model_data2.json
new file mode 100644
index 0000000000000000000000000000000000000000..afb770e9bbd34f455c97dd2b04b4af34d263602f
--- /dev/null
+++ b/assets/objects/047_mouse/model_data2.json
@@ -0,0 +1,114 @@
+{
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\ No newline at end of file
diff --git a/assets/objects/053_teanet/model_data1.json b/assets/objects/053_teanet/model_data1.json
new file mode 100644
index 0000000000000000000000000000000000000000..61336018a68c110010fae080db84dd1e1b6e92d9
--- /dev/null
+++ b/assets/objects/053_teanet/model_data1.json
@@ -0,0 +1,81 @@
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\ No newline at end of file
diff --git a/assets/objects/053_teanet/model_data4.json b/assets/objects/053_teanet/model_data4.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1fb51c711df58ddf7d372caab867d1efc6d4349
--- /dev/null
+++ b/assets/objects/053_teanet/model_data4.json
@@ -0,0 +1,81 @@
+{
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\ No newline at end of file
diff --git a/assets/objects/053_teanet/model_data5.json b/assets/objects/053_teanet/model_data5.json
new file mode 100644
index 0000000000000000000000000000000000000000..31c3eab772705bbaaa3da8615bc5f8e294818ac5
--- /dev/null
+++ b/assets/objects/053_teanet/model_data5.json
@@ -0,0 +1,81 @@
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+ [
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+ ]
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+ ],
+ "functional_matrix": [],
+ "orientation_point": [],
+ "contact_points_group": [],
+ "contact_points_mask": [],
+ "target_point_discription": [],
+ "contact_points_discription": [],
+ "functional_point_discription": [],
+ "orientation_point_discription": [],
+ "stable": true
+}
\ No newline at end of file
diff --git a/assets/objects/053_teanet/model_data6.json b/assets/objects/053_teanet/model_data6.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ec60d63586936cbd798a218f05f84a71dce74ed
--- /dev/null
+++ b/assets/objects/053_teanet/model_data6.json
@@ -0,0 +1,81 @@
+{
+ "center": [
+ 0.12909745169502793,
+ 0.24391295336669458,
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+ ],
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+ 0.1,
+ 0.1
+ ],
+ "transform_matrix": [
+ [
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+ [
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+ "target_pose": [],
+ "contact_points_pose": [
+ [
+ [
+ -0.058400001376867294,
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+ [
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+ 0.0,
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+ ]
+ ]
+ ],
+ "functional_matrix": [],
+ "orientation_point": [],
+ "contact_points_group": [],
+ "contact_points_mask": [],
+ "target_point_discription": [],
+ "contact_points_discription": [],
+ "functional_point_discription": [],
+ "orientation_point_discription": [],
+ "stable": false
+}
\ No newline at end of file
diff --git a/assets/objects/053_teanet/model_data7.json b/assets/objects/053_teanet/model_data7.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd05b51834ace26e1016343f05bab91cc2d94b06
--- /dev/null
+++ b/assets/objects/053_teanet/model_data7.json
@@ -0,0 +1,81 @@
+{
+ "center": [
+ 0.09336626855702493,
+ 0.2577171491206224,
+ -0.02904222984658641
+ ],
+ "extents": [
+ 1.5578793925269427,
+ 0.5531345266421003,
+ 2.0706897430439497
+ ],
+ "scale": [
+ 0.1,
+ 0.1,
+ 0.1
+ ],
+ "transform_matrix": [
+ [
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+ [
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+ [
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+ [
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+ "target_pose": [],
+ "contact_points_pose": [
+ [
+ [
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+ ]
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+ "functional_matrix": [],
+ "orientation_point": [],
+ "contact_points_group": [],
+ "contact_points_mask": [],
+ "target_point_discription": [],
+ "contact_points_discription": [],
+ "functional_point_discription": [],
+ "orientation_point_discription": [],
+ "stable": true
+}
\ No newline at end of file
diff --git a/assets/objects/053_teanet/points_info.json b/assets/objects/053_teanet/points_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3754a2a308842385da0b7758a45596b751a6c55c
--- /dev/null
+++ b/assets/objects/053_teanet/points_info.json
@@ -0,0 +1,10 @@
+{
+ "contact_points": [
+ {
+ "id": 0,
+ "description": "At the handle of the teanet",
+ "usage": "Used for grasping the teanet."
+ }
+ ],
+ "functional_points": []
+}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100880/bounding_box.json b/assets/objects/056_switch/100880/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aa5187d4d9768109f48071fcf9f23ccbcca9789
--- /dev/null
+++ b/assets/objects/056_switch/100880/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.543486, -0.84747, -0.952226], "max": [0.529236, 0.759862, 0.738948]}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100880/meta.json b/assets/objects/056_switch/100880/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..003879600c151f227a1972dca31925217d5b1547
--- /dev/null
+++ b/assets/objects/056_switch/100880/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "2dc7259dc37ad665eca579d3e9fb187e", "version": "1", "anno_id": "880", "time_in_sec": "27"}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100880/mobility.urdf b/assets/objects/056_switch/100880/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..97e40e6f0681b25f0f2c381fd816b0a0184821ea
--- /dev/null
+++ b/assets/objects/056_switch/100880/mobility.urdf
@@ -0,0 +1,92 @@
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diff --git a/assets/objects/056_switch/100880/mobility_v2.json b/assets/objects/056_switch/100880/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6125784346483cda0a6afc108bf53f6b6fb79332
--- /dev/null
+++ b/assets/objects/056_switch/100880/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0.018399000000000026,0.48836650000000004],"direction":[1,0,0]},"limit":{"a":0,"b":31,"noLimit":false}}},{"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/objects/056_switch/100880/model_data.json b/assets/objects/056_switch/100880/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5a4e0b5b424022a49bc1454a2d9cd0bd60a02d7
--- /dev/null
+++ b/assets/objects/056_switch/100880/model_data.json
@@ -0,0 +1,43 @@
+{
+ "scale": 0.08,
+ "target_points": [],
+ "contact_points": [
+ {
+ "matrix": [
+ [
+ -0.0,
+ -0.00860000029206276,
+ 0.9999600052833557,
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+ ],
+ [
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+ -0.008419999852776527,
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+ [
+ 0.0,
+ 0.0,
+ 0.0,
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+ ]
+ ],
+ "base": "link_1"
+ }
+ ],
+ "functional_points": [],
+ "orientation_point": [],
+ "contact_points_group": [],
+ "contact_points_mask": [],
+ "target_points_discription": [],
+ "contact_points_discription": [],
+ "functional_points_discription": [],
+ "orientation_point_discription": []
+}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100880/result.json b/assets/objects/056_switch/100880/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ae566e8f1409b2e6be6204c04722c9b71d36e34
--- /dev/null
+++ b/assets/objects/056_switch/100880/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-7"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-2", "original-5", "original-6"]}]}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100880/result_original.json b/assets/objects/056_switch/100880/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..0964c055c048ae166c38dcaa8170189dbea5bf8d
--- /dev/null
+++ b/assets/objects/056_switch/100880/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-7"]}]}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100880/semantics.txt b/assets/objects/056_switch/100880/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1562779348585b3e905de16ace62a3f88ca65f26
--- /dev/null
+++ b/assets/objects/056_switch/100880/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge toggle_button
+link_1 free switch_frame
diff --git a/assets/objects/056_switch/100880/textured_objs/original-2.mtl b/assets/objects/056_switch/100880/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f463083298b9b9311265943246551552e59ed02f
--- /dev/null
+++ b/assets/objects/056_switch/100880/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.3137254901960784 0.3137254901960784 0.3137254901960784
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/objects/056_switch/100880/textured_objs/original-2.obj b/assets/objects/056_switch/100880/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..092e8a384604b5c227152577099a391e56626267
--- /dev/null
+++ b/assets/objects/056_switch/100880/textured_objs/original-2.obj
@@ -0,0 +1,65 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o Group3/mesh1/mesh1-geometry#mesh1-geometry
+v -0.185912 0.557602 0.313891
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diff --git a/assets/objects/056_switch/100880/textured_objs/original-3.mtl b/assets/objects/056_switch/100880/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f463083298b9b9311265943246551552e59ed02f
--- /dev/null
+++ b/assets/objects/056_switch/100880/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/objects/056_switch/100880/textured_objs/original-3.obj b/assets/objects/056_switch/100880/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7e2d7bd853041b0df80fffc245f57042af05bfd
--- /dev/null
+++ b/assets/objects/056_switch/100880/textured_objs/original-3.obj
@@ -0,0 +1,283 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o mesh3/mesh3-geometry#mesh3-geometry
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diff --git a/assets/objects/056_switch/100880/textured_objs/original-4.mtl b/assets/objects/056_switch/100880/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f463083298b9b9311265943246551552e59ed02f
--- /dev/null
+++ b/assets/objects/056_switch/100880/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.3137254901960784 0.3137254901960784 0.3137254901960784
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/objects/056_switch/100880/textured_objs/original-4.obj b/assets/objects/056_switch/100880/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c03f69a5db39519bf336fbfd64e444abb9b267a
--- /dev/null
+++ b/assets/objects/056_switch/100880/textured_objs/original-4.obj
@@ -0,0 +1,65 @@
+# SSTK version 0.8.0
+# 4
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diff --git a/assets/objects/056_switch/100880/textured_objs/original-5.mtl b/assets/objects/056_switch/100880/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/objects/056_switch/100880/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/objects/056_switch/100880/textured_objs/original-5.obj b/assets/objects/056_switch/100880/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56a0b93ca22b28ddd4da8b1fdaf1c06239c1ca91
--- /dev/null
+++ b/assets/objects/056_switch/100880/textured_objs/original-5.obj
@@ -0,0 +1,343 @@
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diff --git a/assets/objects/056_switch/100880/textured_objs/original-6.mtl b/assets/objects/056_switch/100880/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/objects/056_switch/100880/textured_objs/original-6.mtl
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diff --git a/assets/objects/056_switch/100880/textured_objs/original-6.obj b/assets/objects/056_switch/100880/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9df80fb3c32bf2f0118ea9b3e6fbaa4670672faf
--- /dev/null
+++ b/assets/objects/056_switch/100880/textured_objs/original-6.obj
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diff --git a/assets/objects/056_switch/100880/textured_objs/original-7.mtl b/assets/objects/056_switch/100880/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..32b6eac26b01b078d6c415efc57442bc4a17aaaa
--- /dev/null
+++ b/assets/objects/056_switch/100880/textured_objs/original-7.mtl
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diff --git a/assets/objects/056_switch/100880/textured_objs/original-7.obj b/assets/objects/056_switch/100880/textured_objs/original-7.obj
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index 0000000000000000000000000000000000000000..d1f4fcce6f70941e589cdedf58a1f9c06c7619a9
--- /dev/null
+++ b/assets/objects/056_switch/100880/textured_objs/original-7.obj
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diff --git a/assets/objects/056_switch/100901/bounding_box.json b/assets/objects/056_switch/100901/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2b28ede2ac492cc3832e3697ad6b7e4d21a8623
--- /dev/null
+++ b/assets/objects/056_switch/100901/bounding_box.json
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\ No newline at end of file
diff --git a/assets/objects/056_switch/100901/meta.json b/assets/objects/056_switch/100901/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e03f87ba4b4b10cbb8f532de4c8edb0dbd60bfe
--- /dev/null
+++ b/assets/objects/056_switch/100901/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "56da446f-89a3-4608-94dc-a761a5c30b1a", "version": "1", "anno_id": "901", "time_in_sec": "9"}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100901/mobility.urdf b/assets/objects/056_switch/100901/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..33fc65de0f21fe9b8903b19c75093ad18c3d9641
--- /dev/null
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diff --git a/assets/objects/056_switch/100901/mobility_v2.json b/assets/objects/056_switch/100901/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcfd17f5637deb18970a8b82c80480f0823acef2
--- /dev/null
+++ b/assets/objects/056_switch/100901/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0.024431499999999995,0.05],"direction":[1,0,0]},"limit":{"a":0,"b":13,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100901/model_data.json b/assets/objects/056_switch/100901/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..06fff7f6fe0e33ee2e2bd399f4b085eb92c969b4
--- /dev/null
+++ b/assets/objects/056_switch/100901/model_data.json
@@ -0,0 +1,43 @@
+{
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+ "target_points": [],
+ "contact_points": [
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+ ]
+ ],
+ "base": "link_1"
+ }
+ ],
+ "functional_points": [],
+ "orientation_point": [],
+ "contact_points_group": [],
+ "contact_points_mask": [],
+ "target_points_discription": [],
+ "contact_points_discription": [],
+ "functional_points_discription": [],
+ "orientation_point_discription": []
+}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100901/result.json b/assets/objects/056_switch/100901/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..5790b8a5bd21637e9d6ba5f888e8955e669b96af
--- /dev/null
+++ b/assets/objects/056_switch/100901/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-1"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-2"]}]}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100901/result_original.json b/assets/objects/056_switch/100901/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..827a665149ecb631adcf0a746e6ba2ef41d9726b
--- /dev/null
+++ b/assets/objects/056_switch/100901/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100901/semantics.txt b/assets/objects/056_switch/100901/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eef75a31952181dcb3a637c11050ae9bcd0ad1bf
--- /dev/null
+++ b/assets/objects/056_switch/100901/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge toggle_button
+link_1 static switch_frame
diff --git a/assets/objects/056_switch/100901/textured_objs/original-1.mtl b/assets/objects/056_switch/100901/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..819c6d2b5c402206a457faf56ccb8699daa4e377
--- /dev/null
+++ b/assets/objects/056_switch/100901/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
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+illum 3
+d 1
+Ns 30
+Kd 0.8274509803921568 0.6549019607843137 0.4196078431372549
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
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diff --git a/assets/objects/056_switch/100901/textured_objs/original-1.obj b/assets/objects/056_switch/100901/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4ad2c85e3334ab9a7b342f939c86c262639000a
--- /dev/null
+++ b/assets/objects/056_switch/100901/textured_objs/original-1.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID5
+v 0.512944 0.343864 0.061522
+v -0.485283 -0.295001 0.131798
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diff --git a/assets/objects/056_switch/100901/textured_objs/original-2.mtl b/assets/objects/056_switch/100901/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e9024ca35fd9ed8fe0fc9a75d239611771ed579
--- /dev/null
+++ b/assets/objects/056_switch/100901/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/objects/056_switch/100901/textured_objs/original-2.obj b/assets/objects/056_switch/100901/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65af8811e0ef56612beab0bd8f35e51c77c970a9
--- /dev/null
+++ b/assets/objects/056_switch/100901/textured_objs/original-2.obj
@@ -0,0 +1,61 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o #ID13
+v -0.625584 0.797975 -0.067848
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diff --git a/assets/objects/056_switch/100905/bounding_box.json b/assets/objects/056_switch/100905/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b4ce539f69b2db8c55eddd73e5b5b9cfd9a8f6a
--- /dev/null
+++ b/assets/objects/056_switch/100905/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.629744, -0.811397, -0.069821], "max": [0.62436, 0.769244, 0.128696]}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100905/meta.json b/assets/objects/056_switch/100905/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..078a944b699b01e5408e314883065a38c56857f7
--- /dev/null
+++ b/assets/objects/056_switch/100905/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "58fc5189-edb7-4292-b8be-f5020a235b49", "version": "2", "anno_id": "905", "time_in_sec": "168"}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100905/mobility.urdf b/assets/objects/056_switch/100905/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f1a81b6df5c49b51f3713f460a9214f6954198cd
--- /dev/null
+++ b/assets/objects/056_switch/100905/mobility.urdf
@@ -0,0 +1,44 @@
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diff --git a/assets/objects/056_switch/100905/mobility_v2.json b/assets/objects/056_switch/100905/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb8f4a911e979478ca95db3d3596d1de5510bea0
--- /dev/null
+++ b/assets/objects/056_switch/100905/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0.0429455,0.0889925],"direction":[1,0,0]},"limit":{"a":0,"b":11,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100905/model_data.json b/assets/objects/056_switch/100905/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..718ee3a9c59b7eea46b351779e2323c57bf5bc1c
--- /dev/null
+++ b/assets/objects/056_switch/100905/model_data.json
@@ -0,0 +1,43 @@
+{
+ "scale": 0.08,
+ "target_points": [],
+ "contact_points": [
+ {
+ "matrix": [
+ [
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+ [
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+ [
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+ ],
+ "base": "link_1"
+ }
+ ],
+ "functional_points": [],
+ "orientation_point": [],
+ "contact_points_group": [],
+ "contact_points_mask": [],
+ "target_points_discription": [],
+ "contact_points_discription": [],
+ "functional_points_discription": [],
+ "orientation_point_discription": []
+}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100905/result.json b/assets/objects/056_switch/100905/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..5790b8a5bd21637e9d6ba5f888e8955e669b96af
--- /dev/null
+++ b/assets/objects/056_switch/100905/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-1"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-2"]}]}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100905/result_original.json b/assets/objects/056_switch/100905/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..827a665149ecb631adcf0a746e6ba2ef41d9726b
--- /dev/null
+++ b/assets/objects/056_switch/100905/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100905/semantics.txt b/assets/objects/056_switch/100905/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eef75a31952181dcb3a637c11050ae9bcd0ad1bf
--- /dev/null
+++ b/assets/objects/056_switch/100905/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge toggle_button
+link_1 static switch_frame
diff --git a/assets/objects/056_switch/100905/textured_objs/original-1.mtl b/assets/objects/056_switch/100905/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..819c6d2b5c402206a457faf56ccb8699daa4e377
--- /dev/null
+++ b/assets/objects/056_switch/100905/textured_objs/original-1.mtl
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diff --git a/assets/objects/056_switch/100905/textured_objs/original-1.obj b/assets/objects/056_switch/100905/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..071f2e6aa702e905a526dfe6df10be0a94dc698b
--- /dev/null
+++ b/assets/objects/056_switch/100905/textured_objs/original-1.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID5
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diff --git a/assets/objects/056_switch/100905/textured_objs/original-2.mtl b/assets/objects/056_switch/100905/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e9024ca35fd9ed8fe0fc9a75d239611771ed579
--- /dev/null
+++ b/assets/objects/056_switch/100905/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/objects/056_switch/100905/textured_objs/original-2.obj b/assets/objects/056_switch/100905/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d8f5f28e7b6a4f2e49684a1da0c08d4517c3ab9
--- /dev/null
+++ b/assets/objects/056_switch/100905/textured_objs/original-2.obj
@@ -0,0 +1,61 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o #ID13
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diff --git a/assets/objects/056_switch/100906/bounding_box.json b/assets/objects/056_switch/100906/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..8645987e3174060ab5fd9f49929c1cccf553c3b8
--- /dev/null
+++ b/assets/objects/056_switch/100906/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.707506, -0.684727, -0.377757], "max": [0.682299, 0.705077, 0.198915]}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100906/meta.json b/assets/objects/056_switch/100906/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a1807c311b6d09fbf19244a739bde495b1dbc76
--- /dev/null
+++ b/assets/objects/056_switch/100906/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "596be26d-d008-4c13-a289-59c53116fdc9", "version": "1", "anno_id": "906", "time_in_sec": "21"}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100906/mobility.urdf b/assets/objects/056_switch/100906/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..41fbcb564908ab1abedc1f828a1a21ef1ae86a58
--- /dev/null
+++ b/assets/objects/056_switch/100906/mobility.urdf
@@ -0,0 +1,92 @@
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diff --git a/assets/objects/056_switch/100906/mobility_v2.json b/assets/objects/056_switch/100906/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc173718cf566654c72e7d222d624be83f6bd80e
--- /dev/null
+++ b/assets/objects/056_switch/100906/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0.0075460036628927345,0.12465143501251366],"direction":[1,0,0]},"limit":{"a":0,"b":7,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100906/model_data.json b/assets/objects/056_switch/100906/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..42e8a89bd81d739e2e49232623ce0190caef2e64
--- /dev/null
+++ b/assets/objects/056_switch/100906/model_data.json
@@ -0,0 +1,43 @@
+{
+ "scale": 0.08,
+ "target_points": [],
+ "contact_points": [
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+ "base": "link_1"
+ }
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+ "functional_points": [],
+ "orientation_point": [],
+ "contact_points_group": [],
+ "contact_points_mask": [],
+ "target_points_discription": [],
+ "contact_points_discription": [],
+ "functional_points_discription": [],
+ "orientation_point_discription": []
+}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100906/result.json b/assets/objects/056_switch/100906/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..e011ff65fda0d610333f8908194abac66c5b14dd
--- /dev/null
+++ b/assets/objects/056_switch/100906/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-6", "original-7"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-3", "original-2", "original-9", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100906/result_original.json b/assets/objects/056_switch/100906/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..70f746b786ff817eb03143a2c828d394a90b879c
--- /dev/null
+++ b/assets/objects/056_switch/100906/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-6", "original-7"]}]}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100906/semantics.txt b/assets/objects/056_switch/100906/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eef75a31952181dcb3a637c11050ae9bcd0ad1bf
--- /dev/null
+++ b/assets/objects/056_switch/100906/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge toggle_button
+link_1 static switch_frame
diff --git a/assets/objects/056_switch/100906/textured_objs/original-10.mtl b/assets/objects/056_switch/100906/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9a10d833a56269018d8fc0d1c1fbf8e088c54f49
--- /dev/null
+++ b/assets/objects/056_switch/100906/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/objects/056_switch/100906/textured_objs/original-10.obj b/assets/objects/056_switch/100906/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d232046e0c673103ce37a9c65c1efceb3d743d6c
--- /dev/null
+++ b/assets/objects/056_switch/100906/textured_objs/original-10.obj
@@ -0,0 +1,144 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID43
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diff --git a/assets/objects/056_switch/100906/textured_objs/original-2.mtl b/assets/objects/056_switch/100906/textured_objs/original-2.mtl
new file mode 100644
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diff --git a/assets/objects/056_switch/100906/textured_objs/original-3.mtl b/assets/objects/056_switch/100906/textured_objs/original-3.mtl
new file mode 100644
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diff --git a/assets/objects/056_switch/100906/textured_objs/original-3.obj b/assets/objects/056_switch/100906/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89c99eb77b5faf187770c6ea3fe074eabd6ef78f
--- /dev/null
+++ b/assets/objects/056_switch/100906/textured_objs/original-3.obj
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diff --git a/assets/objects/056_switch/100906/textured_objs/original-6.mtl b/assets/objects/056_switch/100906/textured_objs/original-6.mtl
new file mode 100644
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--- /dev/null
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diff --git a/assets/objects/056_switch/100906/textured_objs/original-6.obj b/assets/objects/056_switch/100906/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e37c75a98580277ebc9ee3d0b667a84da1f66874
--- /dev/null
+++ b/assets/objects/056_switch/100906/textured_objs/original-6.obj
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diff --git a/assets/objects/056_switch/100906/textured_objs/original-7.mtl b/assets/objects/056_switch/100906/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/objects/056_switch/100906/textured_objs/original-7.mtl
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diff --git a/assets/objects/056_switch/100906/textured_objs/original-7.obj b/assets/objects/056_switch/100906/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea9f71d4462d7a91d5435de2748d027910360cda
--- /dev/null
+++ b/assets/objects/056_switch/100906/textured_objs/original-7.obj
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diff --git a/assets/objects/056_switch/100906/textured_objs/original-9.mtl b/assets/objects/056_switch/100906/textured_objs/original-9.mtl
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--- /dev/null
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diff --git a/assets/objects/056_switch/100906/textured_objs/original-9.obj b/assets/objects/056_switch/100906/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7277c1871dc05439ee48b283fbbad16d1613bc12
--- /dev/null
+++ b/assets/objects/056_switch/100906/textured_objs/original-9.obj
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diff --git a/assets/objects/056_switch/100907/bounding_box.json b/assets/objects/056_switch/100907/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..da7877426fdeb26ca0eaa8c393fa22dc8c0026f8
--- /dev/null
+++ b/assets/objects/056_switch/100907/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.561952, -0.648608, -0.835524], "max": [0.5453, 0.697464, 0.64001]}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100907/meta.json b/assets/objects/056_switch/100907/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca1d43bbf43571d6468ca98a856a3cea3e4c838e
--- /dev/null
+++ b/assets/objects/056_switch/100907/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "5a8c4b01d7cdc687243fd6c0bc6255e8", "version": "1", "anno_id": "907", "time_in_sec": "13"}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100907/mobility.urdf b/assets/objects/056_switch/100907/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e2b81e0a3e0223c894e3fff0217322deaab887da
--- /dev/null
+++ b/assets/objects/056_switch/100907/mobility.urdf
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diff --git a/assets/objects/056_switch/100907/mobility_v2.json b/assets/objects/056_switch/100907/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e69a905a7b0b367f4c3b39087c60076d634299b
--- /dev/null
+++ b/assets/objects/056_switch/100907/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0.02442769136321424,0.22830663284163158],"direction":[1,0,0]},"limit":{"a":-1.8000000000000114,"b":23.76,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100907/model_data.json b/assets/objects/056_switch/100907/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..59e6add6c5a1a432bd1ad1ef331fad17a99989e6
--- /dev/null
+++ b/assets/objects/056_switch/100907/model_data.json
@@ -0,0 +1,43 @@
+{
+ "scale": 0.08,
+ "target_points": [],
+ "contact_points": [
+ {
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+ "target_points_discription": [],
+ "contact_points_discription": [],
+ "functional_points_discription": [],
+ "orientation_point_discription": []
+}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100907/result.json b/assets/objects/056_switch/100907/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7d80abb0a18c8adaeb98185f3b8cf3f728a9824
--- /dev/null
+++ b/assets/objects/056_switch/100907/result.json
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+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-3", "original-2", "original-9", "original-5", "original-6", "original-7"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-8"]}]}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100907/result_original.json b/assets/objects/056_switch/100907/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf9c0c9a5fa962402b7e6b502f869d97a922bed9
--- /dev/null
+++ b/assets/objects/056_switch/100907/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-3", "original-2", "original-9", "original-5", "original-6", "original-7"]}]}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100907/semantics.txt b/assets/objects/056_switch/100907/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eef75a31952181dcb3a637c11050ae9bcd0ad1bf
--- /dev/null
+++ b/assets/objects/056_switch/100907/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge toggle_button
+link_1 static switch_frame
diff --git a/assets/objects/056_switch/100907/textured_objs/original-2.mtl b/assets/objects/056_switch/100907/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b161ef1a39c3be8e730f176c281b25c02b96609c
--- /dev/null
+++ b/assets/objects/056_switch/100907/textured_objs/original-2.mtl
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diff --git a/assets/objects/056_switch/100907/textured_objs/original-2.obj b/assets/objects/056_switch/100907/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da3eabf436e6debb03a868bf9f62776d84e56483
--- /dev/null
+++ b/assets/objects/056_switch/100907/textured_objs/original-2.obj
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diff --git a/assets/objects/056_switch/100907/textured_objs/original-3.mtl b/assets/objects/056_switch/100907/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b161ef1a39c3be8e730f176c281b25c02b96609c
--- /dev/null
+++ b/assets/objects/056_switch/100907/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/assets/objects/056_switch/100907/textured_objs/original-3.obj b/assets/objects/056_switch/100907/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4f6bc2fcd45eea1dfb39ea47bce6105d8b1c1bf
--- /dev/null
+++ b/assets/objects/056_switch/100907/textured_objs/original-3.obj
@@ -0,0 +1,43 @@
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diff --git a/assets/objects/056_switch/100907/textured_objs/original-5.mtl b/assets/objects/056_switch/100907/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b161ef1a39c3be8e730f176c281b25c02b96609c
--- /dev/null
+++ b/assets/objects/056_switch/100907/textured_objs/original-5.mtl
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diff --git a/assets/objects/056_switch/100907/textured_objs/original-5.obj b/assets/objects/056_switch/100907/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d2e67a08a2c9ba868bd6162b1c5761bd6420c4
--- /dev/null
+++ b/assets/objects/056_switch/100907/textured_objs/original-5.obj
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diff --git a/assets/objects/056_switch/100907/textured_objs/original-6.mtl b/assets/objects/056_switch/100907/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b161ef1a39c3be8e730f176c281b25c02b96609c
--- /dev/null
+++ b/assets/objects/056_switch/100907/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/objects/056_switch/100907/textured_objs/original-6.obj b/assets/objects/056_switch/100907/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e830ca2474b10178bcbbf2d5d031aaf5c1b547e6
--- /dev/null
+++ b/assets/objects/056_switch/100907/textured_objs/original-6.obj
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index 0000000000000000000000000000000000000000..b161ef1a39c3be8e730f176c281b25c02b96609c
--- /dev/null
+++ b/assets/objects/056_switch/100907/textured_objs/original-7.mtl
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diff --git a/assets/objects/056_switch/100907/textured_objs/original-7.obj b/assets/objects/056_switch/100907/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed18f3d60f080df022936e3e85b84d389c056697
--- /dev/null
+++ b/assets/objects/056_switch/100907/textured_objs/original-7.obj
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diff --git a/assets/objects/056_switch/100907/textured_objs/original-8.mtl b/assets/objects/056_switch/100907/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..47996a2ceeef73071fa0c35dffa9ee7bc315467c
--- /dev/null
+++ b/assets/objects/056_switch/100907/textured_objs/original-8.mtl
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diff --git a/assets/objects/056_switch/100907/textured_objs/original-8.obj b/assets/objects/056_switch/100907/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37c02c37021032b489122f0a9bcb85d65f1c6aac
--- /dev/null
+++ b/assets/objects/056_switch/100907/textured_objs/original-8.obj
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diff --git a/assets/objects/056_switch/100907/textured_objs/original-9.mtl b/assets/objects/056_switch/100907/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..84ada9202e65f7f1e7fc67afd26b63f9d0f1b012
--- /dev/null
+++ b/assets/objects/056_switch/100907/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/objects/056_switch/100907/textured_objs/original-9.obj b/assets/objects/056_switch/100907/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48bb9c05bb0b17269e46eb959819f09884fbd1b9
--- /dev/null
+++ b/assets/objects/056_switch/100907/textured_objs/original-9.obj
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-10.mtl b/assets/objects/056_switch/100914/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-10.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-101.obj b/assets/objects/056_switch/100914/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..883581bef6c1467f8df52f2ef84a0f76dbb05fed
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-101.obj
@@ -0,0 +1,15 @@
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-102.obj b/assets/objects/056_switch/100914/textured_objs/original-102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20f0d30e376ead8d6cf512bc89544f69f90cb68a
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-102.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-103.obj b/assets/objects/056_switch/100914/textured_objs/original-103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67d0ad2443b184f38b5444e1b51b0803a1cf46c8
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-103.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-106.obj b/assets/objects/056_switch/100914/textured_objs/original-106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..151d5530246649c5c5febf681b98b5ec71df3ef1
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-106.obj
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+# SSTK version 0.8.0
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-107.mtl b/assets/objects/056_switch/100914/textured_objs/original-107.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-107.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-107.obj b/assets/objects/056_switch/100914/textured_objs/original-107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec02afd50c3f4b921ffd125dc0bf1f6a8722d9a5
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-107.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 107
+mtllib original-107.mtl
+o #ID638
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-108.mtl b/assets/objects/056_switch/100914/textured_objs/original-108.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-108.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-109.mtl b/assets/objects/056_switch/100914/textured_objs/original-109.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-109.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-109.obj b/assets/objects/056_switch/100914/textured_objs/original-109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..637d0bf292e231c68cbbe2648a2cf33ad274500a
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-109.obj
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+# SSTK version 0.8.0
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-11.mtl b/assets/objects/056_switch/100914/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
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+++ b/assets/objects/056_switch/100914/textured_objs/original-11.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-110.mtl b/assets/objects/056_switch/100914/textured_objs/original-110.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
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+++ b/assets/objects/056_switch/100914/textured_objs/original-110.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-111.mtl b/assets/objects/056_switch/100914/textured_objs/original-111.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-111.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-112.mtl b/assets/objects/056_switch/100914/textured_objs/original-112.mtl
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+++ b/assets/objects/056_switch/100914/textured_objs/original-112.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-115.mtl b/assets/objects/056_switch/100914/textured_objs/original-115.mtl
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+++ b/assets/objects/056_switch/100914/textured_objs/original-115.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-116.mtl b/assets/objects/056_switch/100914/textured_objs/original-116.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-116.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-116.obj b/assets/objects/056_switch/100914/textured_objs/original-116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6c911c3a79507cee32c9fbf832312522eb3437f
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-116.obj
@@ -0,0 +1,15 @@
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-118.mtl b/assets/objects/056_switch/100914/textured_objs/original-118.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-118.obj b/assets/objects/056_switch/100914/textured_objs/original-118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e02bb6e4ff6bd312ea0584621e015977bf7eb057
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-118.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-119.obj b/assets/objects/056_switch/100914/textured_objs/original-119.obj
new file mode 100644
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-119.obj
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new file mode 100644
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-120.obj
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-121.obj b/assets/objects/056_switch/100914/textured_objs/original-121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0d52827ae42ed33632136dabac40505cfa02dd4
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-121.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-122.mtl b/assets/objects/056_switch/100914/textured_objs/original-122.mtl
new file mode 100644
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-124.mtl b/assets/objects/056_switch/100914/textured_objs/original-124.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-125.obj b/assets/objects/056_switch/100914/textured_objs/original-125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..594dd22767640914a656be928d9ccd0115c34981
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-125.obj
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+# SSTK version 0.8.0
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+o #ID746
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-126.obj b/assets/objects/056_switch/100914/textured_objs/original-126.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-126.obj
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+# SSTK version 0.8.0
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-129.mtl b/assets/objects/056_switch/100914/textured_objs/original-129.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
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+++ b/assets/objects/056_switch/100914/textured_objs/original-129.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-129.obj b/assets/objects/056_switch/100914/textured_objs/original-129.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-129.obj
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+# SSTK version 0.8.0
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-13.mtl b/assets/objects/056_switch/100914/textured_objs/original-13.mtl
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--- /dev/null
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-131.mtl b/assets/objects/056_switch/100914/textured_objs/original-131.mtl
new file mode 100644
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-134.mtl b/assets/objects/056_switch/100914/textured_objs/original-134.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-134.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-135.mtl b/assets/objects/056_switch/100914/textured_objs/original-135.mtl
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--- /dev/null
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-136.mtl b/assets/objects/056_switch/100914/textured_objs/original-136.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-137.mtl b/assets/objects/056_switch/100914/textured_objs/original-137.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-14.obj b/assets/objects/056_switch/100914/textured_objs/original-14.obj
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index 0000000000000000000000000000000000000000..7512de9907b9c5fd17bf28ff1e1ab9f91ad3090f
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-14.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-141.mtl b/assets/objects/056_switch/100914/textured_objs/original-141.mtl
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index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-141.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-141.obj b/assets/objects/056_switch/100914/textured_objs/original-141.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fc9f0063bd067f06ae2619c711a76242ae23c93
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-141.obj
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+# SSTK version 0.8.0
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+++ b/assets/objects/056_switch/100914/textured_objs/original-144.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-145.mtl b/assets/objects/056_switch/100914/textured_objs/original-145.mtl
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-145.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-146.mtl b/assets/objects/056_switch/100914/textured_objs/original-146.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-146.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-146.obj b/assets/objects/056_switch/100914/textured_objs/original-146.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-146.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-148.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-149.obj
@@ -0,0 +1,15 @@
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--- /dev/null
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-154.obj
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-160.obj b/assets/objects/056_switch/100914/textured_objs/original-160.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f77c792f472874c975cf7abc4a51a4930f4ecdb
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-160.obj
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-161.obj b/assets/objects/056_switch/100914/textured_objs/original-161.obj
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index 0000000000000000000000000000000000000000..0638be038ffebac095d8a397b9b60bd721ccba8a
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index 0000000000000000000000000000000000000000..3f6aaa4622b190f50218d99963ddfa0178c38862
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+++ b/assets/objects/056_switch/100914/textured_objs/original-162.obj
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+++ b/assets/objects/056_switch/100914/textured_objs/original-163.obj
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+++ b/assets/objects/056_switch/100914/textured_objs/original-169.obj
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-176.obj b/assets/objects/056_switch/100914/textured_objs/original-176.obj
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+++ b/assets/objects/056_switch/100914/textured_objs/original-179.obj
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+++ b/assets/objects/056_switch/100914/textured_objs/original-188.obj
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--- /dev/null
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-205.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-207.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-214.obj
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-27.obj b/assets/objects/056_switch/100914/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..455ea54dbbd3dd6851bdc64d2d904ae7a7dad354
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-27.obj
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+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
+o #ID161
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-28.mtl b/assets/objects/056_switch/100914/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
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+++ b/assets/objects/056_switch/100914/textured_objs/original-28.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-29.obj b/assets/objects/056_switch/100914/textured_objs/original-29.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-29.obj
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+mtllib original-29.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-30.mtl b/assets/objects/056_switch/100914/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-31.obj b/assets/objects/056_switch/100914/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbad7172d033b3dda504c63dbbc0611f75969e9e
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-31.obj
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+# SSTK version 0.8.0
+# 31
+mtllib original-31.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-32.mtl b/assets/objects/056_switch/100914/textured_objs/original-32.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-36.mtl b/assets/objects/056_switch/100914/textured_objs/original-36.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-38.obj b/assets/objects/056_switch/100914/textured_objs/original-38.obj
new file mode 100644
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-38.obj
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+# SSTK version 0.8.0
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+mtllib original-38.mtl
+o #ID227
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-39.mtl b/assets/objects/056_switch/100914/textured_objs/original-39.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-41.mtl b/assets/objects/056_switch/100914/textured_objs/original-41.mtl
new file mode 100644
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+++ b/assets/objects/056_switch/100914/textured_objs/original-41.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-42.obj b/assets/objects/056_switch/100914/textured_objs/original-42.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-42.obj
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+# SSTK version 0.8.0
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-43.mtl b/assets/objects/056_switch/100914/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-43.obj b/assets/objects/056_switch/100914/textured_objs/original-43.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-43.obj
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+# SSTK version 0.8.0
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-45.mtl b/assets/objects/056_switch/100914/textured_objs/original-45.mtl
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index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-45.obj b/assets/objects/056_switch/100914/textured_objs/original-45.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-45.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 45
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-46.mtl b/assets/objects/056_switch/100914/textured_objs/original-46.mtl
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index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-48.obj b/assets/objects/056_switch/100914/textured_objs/original-48.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-48.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-50.mtl b/assets/objects/056_switch/100914/textured_objs/original-50.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-51.obj b/assets/objects/056_switch/100914/textured_objs/original-51.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-51.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-52.obj
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-55.mtl b/assets/objects/056_switch/100914/textured_objs/original-55.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-56.obj b/assets/objects/056_switch/100914/textured_objs/original-56.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-56.obj
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-59.mtl b/assets/objects/056_switch/100914/textured_objs/original-59.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-59.obj b/assets/objects/056_switch/100914/textured_objs/original-59.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-59.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
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+++ b/assets/objects/056_switch/100914/textured_objs/original-61.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-61.obj b/assets/objects/056_switch/100914/textured_objs/original-61.obj
new file mode 100644
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-61.obj
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-62.obj b/assets/objects/056_switch/100914/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b5e0310bd4ea5fe327c91d40d4f1fcd5ec0de1a
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-62.obj
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-63.mtl b/assets/objects/056_switch/100914/textured_objs/original-63.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-64.mtl b/assets/objects/056_switch/100914/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
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+++ b/assets/objects/056_switch/100914/textured_objs/original-64.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-64.obj b/assets/objects/056_switch/100914/textured_objs/original-64.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-64.obj
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-65.mtl b/assets/objects/056_switch/100914/textured_objs/original-65.mtl
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index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-65.obj b/assets/objects/056_switch/100914/textured_objs/original-65.obj
new file mode 100644
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-65.obj
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-66.mtl b/assets/objects/056_switch/100914/textured_objs/original-66.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-66.obj b/assets/objects/056_switch/100914/textured_objs/original-66.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-66.obj
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+# SSTK version 0.8.0
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new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-7.obj b/assets/objects/056_switch/100914/textured_objs/original-7.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-7.obj
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+# SSTK version 0.8.0
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-70.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-71.obj
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-74.mtl b/assets/objects/056_switch/100914/textured_objs/original-74.mtl
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index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-74.obj b/assets/objects/056_switch/100914/textured_objs/original-74.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-74.obj
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-75.mtl b/assets/objects/056_switch/100914/textured_objs/original-75.mtl
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-75.obj b/assets/objects/056_switch/100914/textured_objs/original-75.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-75.obj
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--- /dev/null
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-77.obj b/assets/objects/056_switch/100914/textured_objs/original-77.obj
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--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-77.obj
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-81.obj b/assets/objects/056_switch/100914/textured_objs/original-81.obj
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--- /dev/null
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-82.mtl b/assets/objects/056_switch/100914/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-82.mtl
@@ -0,0 +1,7 @@
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+
diff --git a/assets/objects/056_switch/100914/textured_objs/original-83.mtl b/assets/objects/056_switch/100914/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-83.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/objects/056_switch/100914/textured_objs/original-83.obj b/assets/objects/056_switch/100914/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1297683aa70ddc3276527dc8703ce63761cb76c
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-83.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 83
+mtllib original-83.mtl
+o #ID494
+v 0.050549 -0.608334 0.039267
+v 0.050549 -0.608334 0.058909
+v 0.036866 -0.617916 0.039267
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+vn -0.57359507629611 0.8191389921428466 2.4751288822350533e-7
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-84.mtl b/assets/objects/056_switch/100914/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-84.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-85.mtl b/assets/objects/056_switch/100914/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-85.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-85.obj b/assets/objects/056_switch/100914/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a94e2ec87cda124e8f8e8596892816239e69156e
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-85.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 85
+mtllib original-85.mtl
+o #ID506
+v 0.050549 -0.608334 -0.000018
+v 0.050549 -0.608334 0.019624
+v 0.036866 -0.617916 -0.000018
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+vn -0.5735950762960917 0.8191389921428966 1.8923801548893232e-8
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+f 1//1 2//1 3//1
+f 4//2 5//2 6//2
diff --git a/assets/objects/056_switch/100914/textured_objs/original-86.mtl b/assets/objects/056_switch/100914/textured_objs/original-86.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-86.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.6392156862745098 0.6392156862745098 0.6392156862745098
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/objects/056_switch/100914/textured_objs/original-86.obj b/assets/objects/056_switch/100914/textured_objs/original-86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84fe63b6dbba4bebf5a9168c268ec707f918ea51
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-86.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 86
+mtllib original-86.mtl
+o #ID512
+v 0.050549 -0.608334 -0.019660
+v 0.050549 -0.608334 -0.000018
+v 0.036866 -0.617916 -0.019660
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+v 0.050549 -0.608334 -0.019660
+vn 0.573595076296096 -0.8191389921428923 -5.0123609822481734e-8
+vn -0.573595076296096 0.8191389921428923 5.0123609822481734e-8
+usemtl material_0_0
+f 1//1 2//1 3//1
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-87.obj b/assets/objects/056_switch/100914/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f542807a98affbfcf3efb57e19acd684939b5823
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-87.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 87
+mtllib original-87.mtl
+o #ID518
+v 0.055937 -0.546735 -0.019660
+v 0.062997 -0.561874 -0.019660
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-89.mtl b/assets/objects/056_switch/100914/textured_objs/original-89.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-89.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-9.mtl b/assets/objects/056_switch/100914/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
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diff --git a/assets/objects/056_switch/100914/textured_objs/original-90.mtl b/assets/objects/056_switch/100914/textured_objs/original-90.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-90.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.6392156862745098 0.6392156862745098 0.6392156862745098
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/objects/056_switch/100914/textured_objs/original-91.obj b/assets/objects/056_switch/100914/textured_objs/original-91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58708cf2a3b99894a793d7c377ee8d09867a8b3f
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-91.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 91
+mtllib original-91.mtl
+o #ID542
+v 0.020731 -0.622240 -0.019660
+v -0.011050 -0.613725 -0.019660
+v -0.029922 -0.586774 -0.019660
+v -0.029922 -0.586774 -0.019660
+v -0.011050 -0.613725 -0.019660
+v 0.020731 -0.622240 -0.019660
+vn 2.684342935336367e-7 1.9574763164771876e-7 -1
+vn -2.684342935336367e-7 -1.9574763164771876e-7 1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 4//2 5//2 6//2
diff --git a/assets/objects/056_switch/100914/textured_objs/original-94.obj b/assets/objects/056_switch/100914/textured_objs/original-94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8db073fc420ac7ccbe8f789a428b0d5a3aded611
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-94.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 94
+mtllib original-94.mtl
+o #ID560
+v -0.003791 -0.530732 -0.019660
+v -0.029922 -0.586774 -0.019660
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+vn 5.3011376379839575e-8 2.1458972219918752e-7 -1
+vn -5.3011376379839575e-8 -2.1458972219918752e-7 1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 4//2 5//2 6//2
diff --git a/assets/objects/056_switch/100914/textured_objs/original-97.mtl b/assets/objects/056_switch/100914/textured_objs/original-97.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-97.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/objects/056_switch/100914/textured_objs/original-98.mtl b/assets/objects/056_switch/100914/textured_objs/original-98.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-98.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6392156862745098 0.6392156862745098 0.6392156862745098
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/objects/056_switch/100914/textured_objs/original-99.mtl b/assets/objects/056_switch/100914/textured_objs/original-99.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d65963ebf28329f53db1c067df8369791a20dec
--- /dev/null
+++ b/assets/objects/056_switch/100914/textured_objs/original-99.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6392156862745098 0.6392156862745098 0.6392156862745098
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/objects/056_switch/100933/bounding_box.json b/assets/objects/056_switch/100933/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..486dcd307c74cd14b832d9470fbcd6fe072e381d
--- /dev/null
+++ b/assets/objects/056_switch/100933/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.679836, -0.710379, -0.063134], "max": [0.674663, 0.732795, 0.130612]}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100933/mobility.urdf b/assets/objects/056_switch/100933/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ba1407cee77dd5a06891199fa1683f852a89e3da
--- /dev/null
+++ b/assets/objects/056_switch/100933/mobility.urdf
@@ -0,0 +1,68 @@
+
+
+
+
+
+
+
+
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+
+
+
+
+
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diff --git a/assets/objects/056_switch/100933/mobility_v2.json b/assets/objects/056_switch/100933/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a1f0acb7948f1996bb5ba6b340d08f4e06a0ba0
--- /dev/null
+++ b/assets/objects/056_switch/100933/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0.018380499999999994,0.064378],"direction":[1,0,0]},"limit":{"a":0,"b":22,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100933/model_data.json b/assets/objects/056_switch/100933/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..137852cf307dbc5cbb5146f97704cf53e9cf7ee6
--- /dev/null
+++ b/assets/objects/056_switch/100933/model_data.json
@@ -0,0 +1,43 @@
+{
+ "scale": 0.08,
+ "target_points": [],
+ "contact_points": [
+ {
+ "matrix": [
+ [
+ -9.999999747378752e-06,
+ -0.010209999978542328,
+ 0.9999499917030334,
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+ ],
+ [
+ 0.9999600052833557,
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+ ],
+ [
+ 0.008430000394582748,
+ 0.9999099969863892,
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+ ],
+ [
+ 0.0,
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+ ],
+ "base": "link_1"
+ }
+ ],
+ "functional_points": [],
+ "orientation_point": [],
+ "contact_points_group": [],
+ "contact_points_mask": [],
+ "target_points_discription": [],
+ "contact_points_discription": [],
+ "functional_points_discription": [],
+ "orientation_point_discription": []
+}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100933/result.json b/assets/objects/056_switch/100933/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..94b784090374962f3985255f5a4749e0e3f5c7a0
--- /dev/null
+++ b/assets/objects/056_switch/100933/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-1"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-2"]}]}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100933/result_original.json b/assets/objects/056_switch/100933/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..827a665149ecb631adcf0a746e6ba2ef41d9726b
--- /dev/null
+++ b/assets/objects/056_switch/100933/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100933/semantics.txt b/assets/objects/056_switch/100933/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eef75a31952181dcb3a637c11050ae9bcd0ad1bf
--- /dev/null
+++ b/assets/objects/056_switch/100933/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge toggle_button
+link_1 static switch_frame
diff --git a/assets/objects/056_switch/100933/textured_objs/original-1.mtl b/assets/objects/056_switch/100933/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f7280d7261665382d3823357a1f15dbf26ac576b
--- /dev/null
+++ b/assets/objects/056_switch/100933/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_1_0
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+
diff --git a/assets/objects/056_switch/100933/textured_objs/original-2.mtl b/assets/objects/056_switch/100933/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4c197ec7916c529b40914bdf0459ddc4fbff87c2
--- /dev/null
+++ b/assets/objects/056_switch/100933/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Kd 0.6666666666666666 0.6666666666666666 0.6666666666666666
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+newmtl material_1_0
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diff --git a/assets/objects/056_switch/100933/textured_objs/original-3.mtl b/assets/objects/056_switch/100933/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4c197ec7916c529b40914bdf0459ddc4fbff87c2
--- /dev/null
+++ b/assets/objects/056_switch/100933/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/assets/objects/056_switch/100933/textured_objs/original-4.mtl b/assets/objects/056_switch/100933/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46ae4f736d2a59b7d790ca1d9628ff49155ca303
--- /dev/null
+++ b/assets/objects/056_switch/100933/textured_objs/original-4.mtl
@@ -0,0 +1,14 @@
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+newmtl material_1_0
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diff --git a/assets/objects/056_switch/100937/bounding_box.json b/assets/objects/056_switch/100937/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..390114d2f9a66e9568d96f97700dc82e09047f42
--- /dev/null
+++ b/assets/objects/056_switch/100937/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.765849, -0.662207, -0.069431], "max": [0.752875, 0.635067, 0.253458]}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100937/meta.json b/assets/objects/056_switch/100937/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cb2f0424ee4c5252099a6a8acdb2d2226cfc65f
--- /dev/null
+++ b/assets/objects/056_switch/100937/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "bea57a17bab41f97dc3d5b9de4300711", "version": "1", "anno_id": "937", "time_in_sec": "2354"}
\ No newline at end of file
diff --git a/assets/objects/056_switch/100937/mobility.urdf b/assets/objects/056_switch/100937/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5a6ba4dafb0cd23a6a1406ed6cebec95b469ab8e
--- /dev/null
+++ b/assets/objects/056_switch/100937/mobility.urdf
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diff --git a/assets/objects/056_switch/100937/mobility_v2.json b/assets/objects/056_switch/100937/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..14b444469bbfaad6bda30e1c698f9cb44f0f7016
--- /dev/null
+++ b/assets/objects/056_switch/100937/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0.0014290000000000136,0.05],"direction":[1,0,0]},"limit":{"a":0,"b":33,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100937/model_data.json b/assets/objects/056_switch/100937/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5e362d09a3c4d258486ad5b2646115e6cb4a11a
--- /dev/null
+++ b/assets/objects/056_switch/100937/model_data.json
@@ -0,0 +1,43 @@
+{
+ "scale": 0.08,
+ "target_points": [],
+ "contact_points": [
+ {
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\ No newline at end of file
diff --git a/assets/objects/056_switch/100937/result.json b/assets/objects/056_switch/100937/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c71955814a7f397cb9ff0d4113afb356f6aadf5
--- /dev/null
+++ b/assets/objects/056_switch/100937/result.json
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+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-2"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100937/result_original.json b/assets/objects/056_switch/100937/result_original.json
new file mode 100644
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--- /dev/null
+++ b/assets/objects/056_switch/100937/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-2"]}]}]
\ No newline at end of file
diff --git a/assets/objects/056_switch/100937/semantics.txt b/assets/objects/056_switch/100937/semantics.txt
new file mode 100644
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new file mode 100644
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new file mode 100644
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index 0000000000000000000000000000000000000000..0aed592b84afc9acea3f4f05e1bcd89490553c31
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+{
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diff --git a/assets/objects/070_paymentsign/model_data1.json b/assets/objects/070_paymentsign/model_data1.json
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+}
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\ No newline at end of file
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\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..aaf4c4a3d32909092f80e7bb3ca467d1e6a7dbff
--- /dev/null
+++ b/assets/objects/070_paymentsign/points_info.json
@@ -0,0 +1,16 @@
+{
+ "contact_points": [
+ {
+ "id": [0, 1],
+ "description": "At the top center of the payment sign",
+ "usage": "Used for grasping the payment sign."
+ }
+ ],
+ "functional_points": [
+ {
+ "id": 0,
+ "description": "At the bottom center of the payment sign",
+ "usage": "Used to place the payment sign on a surface."
+ }
+ ]
+}
\ No newline at end of file
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diff --git a/assets/objects/079_remotecontrol/points_info.json b/assets/objects/079_remotecontrol/points_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..676cf79ba7e65d3c9e00d6923948048c343ac5fa
--- /dev/null
+++ b/assets/objects/079_remotecontrol/points_info.json
@@ -0,0 +1,16 @@
+{
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\ No newline at end of file
diff --git a/assets/objects/085_gong/model_data0.json b/assets/objects/085_gong/model_data0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f6abbfb453885ace32ba490acecc1441480ce53
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diff --git a/assets/objects/094_rest/model_data1.json b/assets/objects/094_rest/model_data1.json
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index 0000000000000000000000000000000000000000..cdb9a312fd6a9b49528065778531cc0e09e85512
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diff --git a/assets/objects/094_rest/points_info.json b/assets/objects/094_rest/points_info.json
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\ No newline at end of file
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@@ -0,0 +1,4 @@
+{
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\ No newline at end of file
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diff --git a/assets/objects/097_screen/model_data1.json b/assets/objects/097_screen/model_data1.json
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diff --git a/assets/objects/097_screen/model_data3.json b/assets/objects/097_screen/model_data3.json
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\ No newline at end of file
diff --git a/assets/objects/097_screen/points_info.json b/assets/objects/097_screen/points_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9df0ba584cd86040adcd1f61be8d48f48ac0d43e
--- /dev/null
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@@ -0,0 +1,10 @@
+{
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new file mode 100644
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diff --git a/assets/objects/112_tea-box/model_data5.json b/assets/objects/112_tea-box/model_data5.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc692d2c5914f917e8f5914fa30d418ebb79fffd
--- /dev/null
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