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new file mode 100644
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diff --git a/assets/urdf/Microwave/7167/point_sample/pts-10000.txt b/assets/urdf/Microwave/7167/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b0b2f6acd08a24488bf585e46636f5cae95169e
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diff --git a/assets/urdf/Microwave/7167/point_sample/sample-points-all-label-10000.txt b/assets/urdf/Microwave/7167/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..46c48a8565cae0d2d59440f70fb6cf4021bca69a
--- /dev/null
+++ b/assets/urdf/Microwave/7167/point_sample/sample-points-all-label-10000.txt
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diff --git a/assets/urdf/Microwave/7167/point_sample/sample-points-all-pts-label-10000.ply b/assets/urdf/Microwave/7167/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..dbe270436d96bc21fd53fbec7d9d235c7cffb195
--- /dev/null
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diff --git a/assets/urdf/Microwave/7167/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/assets/urdf/Microwave/7167/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb58ffa2c30a8c0a0ddaf20059e94a62881ead87
--- /dev/null
+++ b/assets/urdf/Microwave/7167/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
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diff --git a/assets/urdf/Microwave/7167/textured_objs/original-10.obj b/assets/urdf/Microwave/7167/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24fc02fb1384b8e98148350f1adbf12a5aebde31
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diff --git a/assets/urdf/Microwave/7167/textured_objs/original-5.mtl b/assets/urdf/Microwave/7167/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d2ef13f380c074279917ed9e50d25c4f0260371a
--- /dev/null
+++ b/assets/urdf/Microwave/7167/textured_objs/original-5.mtl
@@ -0,0 +1,21 @@
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diff --git a/assets/urdf/Microwave/7167/textured_objs/original-5.obj b/assets/urdf/Microwave/7167/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20f35ccd4e9f985eed0335e948c73b1a265f2ab2
--- /dev/null
+++ b/assets/urdf/Microwave/7167/textured_objs/original-5.obj
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index 0000000000000000000000000000000000000000..1ed4d412adcc7eed721f56b39ac2958d38dce2e9
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diff --git a/assets/urdf/Microwave/7167/textured_objs/original-7.obj b/assets/urdf/Microwave/7167/textured_objs/original-7.obj
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new file mode 100644
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diff --git a/assets/urdf/Microwave/7310/textured_objs/original-18.mtl b/assets/urdf/Microwave/7310/textured_objs/original-18.mtl
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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+map_Kd ../images/texture_0.jpg
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diff --git a/assets/urdf/Microwave/7310/textured_objs/original-18.obj b/assets/urdf/Microwave/7310/textured_objs/original-18.obj
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index 0000000000000000000000000000000000000000..03ead554d30284852e81be62147c32c0ee408cce
--- /dev/null
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diff --git a/assets/urdf/Microwave/7310/textured_objs/original-19.obj b/assets/urdf/Microwave/7310/textured_objs/original-19.obj
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index 0000000000000000000000000000000000000000..70c0261d405747eca9a3b57361018626462d22d2
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diff --git a/assets/urdf/Microwave/7310/textured_objs/original-3.obj b/assets/urdf/Microwave/7310/textured_objs/original-3.obj
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index 0000000000000000000000000000000000000000..4de74070cbb996dae867946c355dba8a1dfd2512
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diff --git a/assets/urdf/Microwave/7310/textured_objs/original-4.mtl b/assets/urdf/Microwave/7310/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70c0261d405747eca9a3b57361018626462d22d2
--- /dev/null
+++ b/assets/urdf/Microwave/7310/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Microwave/7310/textured_objs/original-4.obj b/assets/urdf/Microwave/7310/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33a92d86eb3bf2d3141a9962e97c4105734ccf74
--- /dev/null
+++ b/assets/urdf/Microwave/7310/textured_objs/original-4.obj
@@ -0,0 +1,387 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/assets/urdf/Microwave/7310/textured_objs/original-5.mtl b/assets/urdf/Microwave/7310/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70c0261d405747eca9a3b57361018626462d22d2
--- /dev/null
+++ b/assets/urdf/Microwave/7310/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4117647058823529 0.4117647058823529 0.4117647058823529 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Microwave/7310/textured_objs/original-5.obj b/assets/urdf/Microwave/7310/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33f4ded4143758ac9bb28dddd274a81659fcb302
--- /dev/null
+++ b/assets/urdf/Microwave/7310/textured_objs/original-5.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o Group5/mesh11/mesh11-geometry#mesh11-geometry
+v 0.617078 -0.320358 0.561210
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+v 0.361407 -0.320358 0.561210
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diff --git a/assets/urdf/Microwave/7310/textured_objs/original-6.mtl b/assets/urdf/Microwave/7310/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..710fc58531afd6bbee4210be387c3adfa145a9d5
--- /dev/null
+++ b/assets/urdf/Microwave/7310/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/assets/urdf/Microwave/7310/textured_objs/original-6.obj b/assets/urdf/Microwave/7310/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cad77b71b39d0144e342ed60519794b8a23c5bc
--- /dev/null
+++ b/assets/urdf/Microwave/7310/textured_objs/original-6.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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diff --git a/assets/urdf/Microwave/7310/textured_objs/original-8.mtl b/assets/urdf/Microwave/7310/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/assets/urdf/Microwave/7310/textured_objs/original-8.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
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diff --git a/assets/urdf/Microwave/7310/textured_objs/original-8.obj b/assets/urdf/Microwave/7310/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bbf119b58d87a7a3e9ece1ef918b2844ea404cf
--- /dev/null
+++ b/assets/urdf/Microwave/7310/textured_objs/original-8.obj
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diff --git a/assets/urdf/Microwave/7310/textured_objs/original-9.mtl b/assets/urdf/Microwave/7310/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/assets/urdf/Microwave/7310/textured_objs/original-9.mtl
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+map_Kd ../images/texture_1.jpg
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diff --git a/assets/urdf/Microwave/7310/textured_objs/original-9.obj b/assets/urdf/Microwave/7310/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcc3f3bba7f4204a5e0411d186c1fb256c656c3b
--- /dev/null
+++ b/assets/urdf/Microwave/7310/textured_objs/original-9.obj
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diff --git a/assets/urdf/WashingMachine/100282/bounding_box.json b/assets/urdf/WashingMachine/100282/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5a20ed9d67efdcb58be8bfe549295aa7f95b47f
--- /dev/null
+++ b/assets/urdf/WashingMachine/100282/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.517612, -0.758353, -0.513844], "max": [0.513975, 0.711659, 0.517744]}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/100282/grasp_poses.json b/assets/urdf/WashingMachine/100282/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..46e08c73b4574b98b56a2d861a6943c7173d804a
--- /dev/null
+++ b/assets/urdf/WashingMachine/100282/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "100282",
+    "scale": 1.4,
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.6374199986457825,
+                        0.5773000121116638,
+                        0.5103200078010559,
+                        -0.5142899751663208
+                    ],
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+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/100282/meta.json b/assets/urdf/WashingMachine/100282/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59432d14bb085e9f5ef38899bb338d6f9f5512d3
--- /dev/null
+++ b/assets/urdf/WashingMachine/100282/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "WashingMachine", "model_id": "04569f2f-3e07-4655-9337-bfa41a5ccbc0", "version": "1", "anno_id": "282", "time_in_sec": "177"}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/100282/mobility.urdf b/assets/urdf/WashingMachine/100282/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e61f8b8ed1d737f52a4319f9f67a833fb933516a
--- /dev/null
+++ b/assets/urdf/WashingMachine/100282/mobility.urdf
@@ -0,0 +1,511 @@
+<?xml version="1.0" ?>
+<robot name="partnet_04569f2f-3e07-4655-9337-bfa41a5ccbc0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.41306891977786964 0 -0.5009578447043892"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.41306891977786964 0 -0.5009578447043892"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.41306891977786964 0 -0.5009578447043892"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.41306891977786964 0 -0.5009578447043892"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.41306891977786964 0 -0.5009578447043892"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.41306891977786964 0 -0.5009578447043892"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.41306891977786964 0 -0.5009578447043892"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.41306891977786964 0 -0.5009578447043892"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.41306891977786964 0 -0.5009578447043892"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.41306891977786964 0 -0.5009578447043892"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.41306891977786964 0 -0.5009578447043892"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.41306891977786964 0 -0.5009578447043892"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.41306891977786964 0 0.5009578447043892"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_9"/>
+		<limit lower="-0.0" upper="1.6713272917097697"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-3">
+			<origin xyz="-0.3340639023446024 -0.4964357740425043 0.07642978875212111"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3340639023446024 -0.4964357740425043 0.07642978875212111"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.3340639023446024 0.4964357740425043 -0.07642978875212111"/>
+		<axis xyz="-4.657845383382128e-06 -0.15216119187547963 -0.9883556908650539"/>
+		<child link="link_1"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.002"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-4">
+			<origin xyz="-0.29111733658759303 -0.4906258843202211 0.07555088953796019"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.29111733658759303 -0.4906258843202211 0.07555088953796019"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.29111733658759303 0.4906258843202211 -0.07555088953796019"/>
+		<axis xyz="6.879132997872837e-06 -0.15219889275132606 -0.9883498859199348"/>
+		<child link="link_2"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.002"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-5">
+			<origin xyz="-0.2481536478338573 -0.4848625028548582 0.07464954927160374"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2481536478338573 -0.4848625028548582 0.07464954927160374"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.2481536478338573 0.4848625028548582 -0.07464954927160374"/>
+		<axis xyz="-1.2286585355728131e-05 -0.15216120253430832 -0.988355689158692"/>
+		<child link="link_3"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-6">
+			<origin xyz="-0.20519039312857965 -0.47912923971095694 0.07372798286684665"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.20519039312857965 -0.47912923971095694 0.07372798286684665"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.20519039312857965 0.47912923971095694 -0.07372798286684665"/>
+		<axis xyz="-3.0676534288335765e-05 -0.15207617072810217 -0.9883687759918498"/>
+		<child link="link_4"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-7">
+			<origin xyz="-0.2102478774381876 -0.458228074899056 0.15079525576462757"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2102478774381876 -0.458228074899056 0.15079525576462757"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0.2102478774381876 0.458228074899056 -0.15079525576462757"/>
+		<axis xyz="0.023807670836812796 -0.322343001028449 -0.9463235094286201"/>
+		<child link="link_5"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-8">
+			<origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-8">
+			<origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-8">
+			<origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.001819 -0.4736158487474846 0.1368118711470816"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.001819 0.4736158487474846 -0.1368118711470816"/>
+		<axis xyz="0 -0.277520015262966 -0.960719855695948"/>
+		<child link="link_6"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_7">
+		<visual name="button-9">
+			<origin xyz="-0.4008265779448591 -0.45988864320187683 0.1464537703050751"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4008265779448591 -0.45988864320187683 0.1464537703050751"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="0.4008265779448591 0.45988864320187683 -0.1464537703050751"/>
+		<axis xyz="0.023773032776781503 -0.32210712587310925 -0.9464046927051658"/>
+		<child link="link_7"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_8">
+		<visual name="button-10">
+			<origin xyz="-0.3770028939639366 -0.502274832494393 0.0772946306467326"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3770028939639366 -0.502274832494393 0.0772946306467326"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="prismatic">
+		<origin xyz="0.3770028939639366 0.502274832494393 -0.0772946306467326"/>
+		<axis xyz="-3.067518681339073e-05 -0.15207617075808802 -0.988368775987278"/>
+		<child link="link_8"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_9">
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_9"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/WashingMachine/100282/mobility_v2.json b/assets/urdf/WashingMachine/100282/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..94a7fc5d92c7b82caace347b6aa28be6209172ea
--- /dev/null
+++ b/assets/urdf/WashingMachine/100282/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 9, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door", "children": []}], "jointData": {"axis": {"origin": [-0.41306891977786964, 0, 0.5009578447043892], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": -95.75999999999999, "noLimit": false}}}, {"id": 1, "parent": 9, "joint": "slider", "name": "button", "parts": [{"id": 3, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.3340639023446024, 0.4964357740425043, -0.07642978875212111], "direction": [4.657845383382128e-06, 0.15216119187547963, 0.9883556908650539]}, "limit": {"a": 0, "b": -0.002, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": 9, "joint": "slider", "name": "button", "parts": [{"id": 4, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.29111733658759303, 0.4906258843202211, -0.07555088953796019], "direction": [-6.879132997872837e-06, 0.15219889275132606, 0.9883498859199348]}, "limit": {"a": 0, "b": -0.002, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 3, "parent": 9, "joint": "slider", "name": "button", "parts": [{"id": 5, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.2481536478338573, 0.4848625028548582, -0.07464954927160374], "direction": [-1.2286585355728131e-05, -0.15216120253430832, -0.988355689158692]}, "limit": {"a": 0, "b": 0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 4, "parent": 9, "joint": "slider", "name": "button", "parts": [{"id": 6, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.20519039312857965, 0.47912923971095694, -0.07372798286684665], "direction": [-3.0676534288335765e-05, -0.15207617072810217, -0.9883687759918498]}, "limit": {"a": 0, "b": 0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 5, "parent": 9, "joint": "slider", "name": "button", "parts": [{"id": 7, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.2102478774381876, 0.458228074899056, -0.15079525576462757], "direction": [-0.023807670836812796, 0.322343001028449, 0.9463235094286201]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 6, "parent": 9, "joint": "hinge", "name": "knob", "parts": [{"id": 8, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.001819, 0.4736158487474846, -0.1368118711470816], "direction": [0, -0.277520015262966, -0.960719855695948]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 7, "parent": 9, "joint": "slider", "name": "button", "parts": [{"id": 9, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.4008265779448591, 0.45988864320187683, -0.1464537703050751], "direction": [-0.023773032776781503, 0.32210712587310925, 0.9464046927051658]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 8, "parent": 9, "joint": "slider", "name": "button", "parts": [{"id": 10, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.3770028939639366, 0.502274832494393, -0.0772946306467326], "direction": [3.067518681339073e-05, 0.15207617075808802, 0.988368775987278]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 9, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 11, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/100282/model_data.json b/assets/urdf/WashingMachine/100282/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f2c71d867fe44002f0656f78b7223c2d17ac3f4
--- /dev/null
+++ b/assets/urdf/WashingMachine/100282/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 1.4,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.6374199986457825,
+                        0.5773000121116638,
+                        0.5103200078010559,
+                        -0.5142899751663208
+                    ],
+                    [
+                        -0.4667699933052063,
+                        0.23765000700950623,
+                        -0.8518499732017517,
+                        -0.20000000298023224
+                    ],
+                    [
+                        -0.6130499839782715,
+                        -0.7811899781227112,
+                        0.11799000203609467,
+                        0.2928600013256073
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/100282/result.json b/assets/urdf/WashingMachine/100282/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdbb48c8d2b4341ed9c1d60eebfec6f7977ec45e
--- /dev/null
+++ b/assets/urdf/WashingMachine/100282/result.json
@@ -0,0 +1 @@
+[{"text": "WashingMachine", "name": "WashingMachine", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-14", "original-9", "original-12", "original-10", "original-11", "original-13"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-25"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-26"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-27"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-28"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-30"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-3", "original-4", "original-6"]}, {"text": "button", "name": "button", "id": 9, "objs": ["original-29"]}, {"text": "button", "name": "button", "id": 10, "objs": ["original-24"]}, {"text": "base_body", "name": "base_body", "id": 11, "objs": ["original-21", "original-36", "original-41", "original-22", "original-33", "original-16", "original-8", "original-35", "original-39", "original-5", "original-37", "original-38", "original-18", "original-17", "original-42", "original-20", "original-32", "original-19", "original-40"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/100282/result_original.json b/assets/urdf/WashingMachine/100282/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..327ee1035ac4456a2d8f75863617dcf542e5dae0
--- /dev/null
+++ b/assets/urdf/WashingMachine/100282/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "WashingMachine", "text": "WashingMachine", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-14", "original-9", "original-12", "original-10", "original-11", "original-13"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-25"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-26"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-27"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-28"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-30"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-3", "original-4", "original-6"]}, {"id": 9, "name": "button", "text": "button", "objs": ["original-29"]}, {"id": 10, "name": "button", "text": "button", "objs": ["original-24"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/100282/semantics.txt b/assets/urdf/WashingMachine/100282/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a5854e8d4156869540ce451b13d9e05a26271045
--- /dev/null
+++ b/assets/urdf/WashingMachine/100282/semantics.txt
@@ -0,0 +1,10 @@
+link_0 hinge door
+link_1 slider button
+link_2 slider button
+link_3 slider button
+link_4 slider button
+link_5 slider button
+link_6 hinge knob
+link_7 slider button
+link_8 slider button
+link_9 heavy washing_machine_body
diff --git a/assets/urdf/WashingMachine/103425/bounding_box.json b/assets/urdf/WashingMachine/103425/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..904627533efbe874f7e2176da7de75ba5e043e1b
--- /dev/null
+++ b/assets/urdf/WashingMachine/103425/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.50746, -0.776013, -0.543595], "max": [0.512847, 0.664421, 0.519737]}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103425/grasp_poses.json b/assets/urdf/WashingMachine/103425/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..28feae06d54234ca6fdeacd5ed137cca04ff727f
--- /dev/null
+++ b/assets/urdf/WashingMachine/103425/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "103425",
+    "scale": 1.4,
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.9961900115013123,
+                        0.08715999871492386,
+                        -0.51555997133255
+                    ],
+                    [
+                        0.7071099877357483,
+                        -0.0616299994289875,
+                        -0.7044199705123901,
+                        -0.21807000041007996
+                    ],
+                    [
+                        0.7071099877357483,
+                        0.0616299994289875,
+                        0.7044199705123901,
+                        0.20377999544143677
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103425/meta.json b/assets/urdf/WashingMachine/103425/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6df764f2f8ec238db996379f56416044d19862eb
--- /dev/null
+++ b/assets/urdf/WashingMachine/103425/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "WashingMachine", "model_id": "8b04de89-4f3f-45d8-8d7a-6bb5958e5340", "version": "1", "anno_id": "3425", "time_in_sec": "126"}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103425/mobility.urdf b/assets/urdf/WashingMachine/103425/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a87932ebdc301fb1879d7d520d9896a62b38c1ec
--- /dev/null
+++ b/assets/urdf/WashingMachine/103425/mobility.urdf
@@ -0,0 +1,667 @@
+<?xml version="1.0" ?>
+<robot name="partnet_8b04de89-4f3f-45d8-8d7a-6bb5958e5340">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.38394308453425735 0 0.493654347360135"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_9"/>
+		<limit lower="-0.0" upper="1.7090264035528477"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="-0.31767773921419673 -0.2682714258558344 0.14778308653198355"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-2">
+			<origin xyz="-0.31767773921419673 -0.2682714258558344 0.14778308653198355"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31767773921419673 -0.2682714258558344 0.14778308653198355"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.31767773921419673 -0.2682714258558344 0.14778308653198355"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.31767773921419673 0.2682714258558344 -0.14778308653198355"/>
+		<axis xyz="-0.08684480220010744 -0.3998161743444751 -0.9124719212465515"/>
+		<child link="link_1"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="-0.2818228813899932 -0.3688154185906545 0.12702605967754443"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-3">
+			<origin xyz="-0.2818228813899932 -0.3688154185906545 0.12702605967754443"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2818228813899932 -0.3688154185906545 0.12702605967754443"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2818228813899932 -0.3688154185906545 0.12702605967754443"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.2818228813899932 0.3688154185906545 -0.12702605967754443"/>
+		<axis xyz="-0.08389114127803196 -0.26658849421047365 -0.9601525145359261"/>
+		<child link="link_2"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="-0.27733079936536126 -0.4187712621673818 0.09015500546935648"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-4">
+			<origin xyz="-0.27733079936536126 -0.4187712621673818 0.09015500546935648"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.27733079936536126 -0.4187712621673818 0.09015500546935648"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.27733079936536126 -0.4187712621673818 0.09015500546935648"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.27733079936536126 0.4187712621673818 -0.09015500546935648"/>
+		<axis xyz="-0.025892270741828118 -0.19397490139656193 -0.9806647377896414"/>
+		<child link="link_3"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-5">
+			<origin xyz="-0.1980649069448888 -0.3596410539860462 0.11705225285575382"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-5">
+			<origin xyz="-0.1980649069448888 -0.3596410539860462 0.11705225285575382"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1980649069448888 -0.3596410539860462 0.11705225285575382"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.1980649069448888 -0.3596410539860462 0.11705225285575382"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.1980649069448888 0.3596410539860462 -0.11705225285575382"/>
+		<axis xyz="-0.08309591294991464 -0.2667454715756602 -0.9601780681961546"/>
+		<child link="link_4"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-6">
+			<origin xyz="-0.1846102132331198 -0.43863392073047763 0.07222839785642145"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="-0.1846102132331198 -0.43863392073047763 0.07222839785642145"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1846102132331198 -0.43863392073047763 0.07222839785642145"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.1846102132331198 -0.43863392073047763 0.07222839785642145"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0.1846102132331198 0.43863392073047763 -0.07222839785642145"/>
+		<axis xyz="-0.04065334067879068 -0.14566281282898277 -0.9884986853053489"/>
+		<child link="link_5"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-7">
+			<origin xyz="-0.35737505481025833 -0.39616727705539556 0.15958537506323675"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-7">
+			<origin xyz="-0.35737505481025833 -0.39616727705539556 0.15958537506323675"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.35737505481025833 -0.39616727705539556 0.15958537506323675"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.35737505481025833 -0.39616727705539556 0.15958537506323675"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="0.35737505481025833 0.39616727705539556 -0.15958537506323675"/>
+		<axis xyz="-0.04318331230115594 -0.33953803707996705 -0.9396005124065141"/>
+		<child link="link_6"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_7">
+		<visual name="button-8">
+			<origin xyz="-0.13848675496509236 -0.31128208139080893 0.16627863107294438"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-8">
+			<origin xyz="-0.13848675496509236 -0.31128208139080893 0.16627863107294438"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.13848675496509236 -0.31128208139080893 0.16627863107294438"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.13848675496509236 -0.31128208139080893 0.16627863107294438"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="0.13848675496509236 0.31128208139080893 -0.16627863107294438"/>
+		<axis xyz="-0.08367543771551286 -0.4402954279531197 -0.893945388290972"/>
+		<child link="link_7"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_8">
+		<visual name="button-9">
+			<origin xyz="-0.0026934999999999997 -0.4207126754153561 0.1278276927252227"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-9">
+			<origin xyz="-0.0026934999999999997 -0.4207126754153561 0.1278276927252227"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-9">
+			<origin xyz="-0.0026934999999999997 -0.4207126754153561 0.1278276927252227"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0026934999999999997 -0.4207126754153561 0.1278276927252227"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0026934999999999997 -0.4207126754153561 0.1278276927252227"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0026934999999999997 -0.4207126754153561 0.1278276927252227"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.0026934999999999997 0.4207126754153561 -0.1278276927252227"/>
+		<axis xyz="0 0.2907134619835902 0.9568101603878985"/>
+		<child link="link_8"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_9">
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_9"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/WashingMachine/103425/mobility_v2.json b/assets/urdf/WashingMachine/103425/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4449638eb3d05fb4eacce96da0c3db8e0b244383
--- /dev/null
+++ b/assets/urdf/WashingMachine/103425/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 9, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door", "children": []}], "jointData": {"axis": {"origin": [-0.38394308453425735, 0, 0.493654347360135], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": -97.92000000000002, "noLimit": false}}}, {"id": 1, "parent": 9, "joint": "slider", "name": "button", "parts": [{"id": 2, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.31767773921419673, 0.2682714258558344, -0.14778308653198355], "direction": [-0.08684480220010744, -0.3998161743444751, -0.9124719212465515]}, "limit": {"a": 0, "b": 0.0040000000000000036, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": 9, "joint": "slider", "name": "button", "parts": [{"id": 3, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.2818228813899932, 0.3688154185906545, -0.12702605967754443], "direction": [0.08389114127803196, 0.26658849421047365, 0.9601525145359261]}, "limit": {"a": 0, "b": -0.0040000000000000036, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 3, "parent": 9, "joint": "slider", "name": "button", "parts": [{"id": 4, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.27733079936536126, 0.4187712621673818, -0.09015500546935648], "direction": [0.025892270741828118, 0.19397490139656193, 0.9806647377896414]}, "limit": {"a": 0, "b": -0.0040000000000000036, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 4, "parent": 9, "joint": "slider", "name": "button", "parts": [{"id": 5, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.1980649069448888, 0.3596410539860462, -0.11705225285575382], "direction": [-0.08309591294991464, -0.2667454715756602, -0.9601780681961546]}, "limit": {"a": 0, "b": 0.0040000000000000036, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 5, "parent": 9, "joint": "slider", "name": "button", "parts": [{"id": 6, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.1846102132331198, 0.43863392073047763, -0.07222839785642145], "direction": [-0.04065334067879068, -0.14566281282898277, -0.9884986853053489]}, "limit": {"a": 0, "b": 0.0040000000000000036, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 6, "parent": 9, "joint": "slider", "name": "button", "parts": [{"id": 7, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.35737505481025833, 0.39616727705539556, -0.15958537506323675], "direction": [-0.04318331230115594, -0.33953803707996705, -0.9396005124065141]}, "limit": {"a": 0, "b": 0.0040000000000000036, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 7, "parent": 9, "joint": "slider", "name": "button", "parts": [{"id": 8, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.13848675496509236, 0.31128208139080893, -0.16627863107294438], "direction": [-0.08367543771551286, -0.4402954279531197, -0.893945388290972]}, "limit": {"a": 0, "b": 0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 8, "parent": 9, "joint": "hinge", "name": "knob", "parts": [{"id": 9, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.0026934999999999997, 0.4207126754153561, -0.1278276927252227], "direction": [0, 0.2907134619835902, 0.9568101603878985]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 9, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 10, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103425/model_data.json b/assets/urdf/WashingMachine/103425/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..51ed3da9919f3a112761a335b6824846e90394df
--- /dev/null
+++ b/assets/urdf/WashingMachine/103425/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 1.4,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.9961900115013123,
+                        0.08715999871492386,
+                        -0.51555997133255
+                    ],
+                    [
+                        0.7071099877357483,
+                        -0.0616299994289875,
+                        -0.7044199705123901,
+                        -0.21807000041007996
+                    ],
+                    [
+                        0.7071099877357483,
+                        0.0616299994289875,
+                        0.7044199705123901,
+                        0.20377999544143677
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103425/result.json b/assets/urdf/WashingMachine/103425/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0546d6f09fedd43af40d493ddf2e51f543ee40e8
--- /dev/null
+++ b/assets/urdf/WashingMachine/103425/result.json
@@ -0,0 +1 @@
+[{"text": "WashingMachine", "name": "WashingMachine", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-17", "original-11", "original-14", "original-16", "original-15", "original-12", "original-13", "original-18"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-47", "original-46"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-50", "original-49"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-53", "original-52"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-56", "original-55"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-59", "original-58"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-62", "original-61"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-65", "original-64"]}, {"text": "button", "name": "button", "id": 9, "objs": ["original-42", "original-39", "original-41"]}, {"text": "base_body", "name": "base_body", "id": 10, "objs": ["original-29", "original-21", "original-30", "original-36", "original-43", "original-26", "original-4", "original-3", "original-33", "original-2", "original-8", "original-35", "original-5", "original-27", "original-6", "original-37", "original-23", "original-34", "original-24", "original-20", "original-32", "original-7", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103425/result_original.json b/assets/urdf/WashingMachine/103425/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..da248a87ea5f072dcccaa2ddf1abf1289b977371
--- /dev/null
+++ b/assets/urdf/WashingMachine/103425/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "WashingMachine", "text": "WashingMachine", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-17", "original-11", "original-14", "original-16", "original-15", "original-12", "original-13", "original-18"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-47", "original-46"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-50", "original-49"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-53", "original-52"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-56", "original-55"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-59", "original-58"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-62", "original-61"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-65", "original-64"]}, {"id": 9, "name": "button", "text": "button", "objs": ["original-42", "original-39", "original-41"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103425/semantics.txt b/assets/urdf/WashingMachine/103425/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..29887b4b0f0b173d77d1b8fceed271d195e7666b
--- /dev/null
+++ b/assets/urdf/WashingMachine/103425/semantics.txt
@@ -0,0 +1,10 @@
+link_0 hinge door
+link_1 slider button
+link_2 slider button
+link_3 slider button
+link_4 slider button
+link_5 slider button
+link_6 slider button
+link_7 slider button
+link_8 hinge knob
+link_9 heavy washing_machine_body
diff --git a/assets/urdf/WashingMachine/103452/bounding_box.json b/assets/urdf/WashingMachine/103452/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1d863b9fd4b09e290b126c4101be0a4512c4d3d
--- /dev/null
+++ b/assets/urdf/WashingMachine/103452/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.503152, -0.653035, -0.593888], "max": [0.513685, 0.629923, 0.695338]}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103452/grasp_poses.json b/assets/urdf/WashingMachine/103452/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..14d7730bcc8f554cf50fe6ffd242cb79341ed4e1
--- /dev/null
+++ b/assets/urdf/WashingMachine/103452/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "103452",
+    "scale": 1.4,
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.2588199973106384,
+                        0.25,
+                        0.9330099821090698,
+                        -0.5857099890708923
+                    ],
+                    [
+                        0.0,
+                        0.9659299850463867,
+                        -0.2588199973106384,
+                        -0.22856999933719635
+                    ],
+                    [
+                        -0.9659299850463867,
+                        -0.06699000298976898,
+                        -0.25,
+                        -0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103452/meta.json b/assets/urdf/WashingMachine/103452/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaf25d6719a8feb2a4ec45c620ae877c816110b3
--- /dev/null
+++ b/assets/urdf/WashingMachine/103452/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "WashingMachine", "model_id": "d87cf480-ba57-43b1-b1f2-bae2b8fe2fa4", "version": "1", "anno_id": "3452", "time_in_sec": "3401"}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103452/mobility.urdf b/assets/urdf/WashingMachine/103452/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..315328918514b22d813c36c8a669a3d8ed78c93c
--- /dev/null
+++ b/assets/urdf/WashingMachine/103452/mobility.urdf
@@ -0,0 +1,1614 @@
+<?xml version="1.0" ?>
+<robot name="partnet_d87cf480-ba57-43b1-b1f2-bae2b8fe2fa4">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-118.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-118.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.39634952036082116 0 -0.5660023993346881"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.39634952036082116 0 0.5660023993346881"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_13"/>
+		<limit lower="-0.0" upper="1.7530087007031045"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="-0.169236 -0.3006002720363913 0.11288065983810239"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.169236 -0.3006002720363913 0.11288065983810239"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.169236 0.3006002720363913 -0.11288065983810239"/>
+		<axis xyz="0 -0.35154813892566605 -0.9361698061879056"/>
+		<child link="link_1"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="-0.169236 -0.32057194517621496 0.12037501125527603"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.169236 -0.32057194517621496 0.12037501125527603"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.169236 0.32057194517621496 -0.12037501125527603"/>
+		<axis xyz="0 -0.35153439149323096 -0.9361749684741011"/>
+		<child link="link_2"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="-0.169236 -0.34100429759108253 0.1280473752563101"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.169236 -0.34100429759108253 0.1280473752563101"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.169236 0.34100429759108253 -0.1280473752563101"/>
+		<axis xyz="0 -0.3515343914932277 -0.9361749684741021"/>
+		<child link="link_3"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-5">
+			<origin xyz="-0.169236 -0.36016682829972835 0.13522288403373306"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.169236 -0.36016682829972835 0.13522288403373306"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.169236 0.36016682829972835 -0.13522288403373306"/>
+		<axis xyz="0 -0.3514887742397259 -0.936192096518367"/>
+		<child link="link_4"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-6">
+			<origin xyz="0.105054 -0.2701629539716974 0.10144026549978791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="0.105054 -0.2701629539716974 0.10144026549978791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="0.105054 -0.2701629539716974 0.10144026549978791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="0.105054 -0.2701629539716974 0.10144026549978791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="0.105054 -0.2701629539716974 0.10144026549978791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.105054 -0.2701629539716974 0.10144026549978791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.105054 -0.2701629539716974 0.10144026549978791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.105054 -0.2701629539716974 0.10144026549978791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.105054 -0.2701629539716974 0.10144026549978791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.105054 -0.2701629539716974 0.10144026549978791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="-0.105054 0.2701629539716974 -0.10144026549978791"/>
+		<axis xyz="0 -0.35151580883807765 -0.9361819460643919"/>
+		<child link="link_5"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-7">
+			<origin xyz="0.002873999999999998 -0.31949300040044676 0.1199371938269686"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.002873999999999998 -0.31949300040044676 0.1199371938269686"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.002873999999999998 0.31949300040044676 -0.1199371938269686"/>
+		<axis xyz="0 0.3514505125175489 0.9362064608040005"/>
+		<child link="link_6"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_7">
+		<visual name="button-8">
+			<origin xyz="-0.09451699999999999 -0.27039174436385216 0.10152874321432533"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-8">
+			<origin xyz="-0.09451699999999999 -0.27039174436385216 0.10152874321432533"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-8">
+			<origin xyz="-0.09451699999999999 -0.27039174436385216 0.10152874321432533"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-8">
+			<origin xyz="-0.09451699999999999 -0.27039174436385216 0.10152874321432533"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-8">
+			<origin xyz="-0.09451699999999999 -0.27039174436385216 0.10152874321432533"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.09451699999999999 -0.27039174436385216 0.10152874321432533"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.09451699999999999 -0.27039174436385216 0.10152874321432533"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.09451699999999999 -0.27039174436385216 0.10152874321432533"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.09451699999999999 -0.27039174436385216 0.10152874321432533"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.09451699999999999 -0.27039174436385216 0.10152874321432533"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
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diff --git a/assets/urdf/WashingMachine/103452/mobility_v2.json b/assets/urdf/WashingMachine/103452/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..34c6669e19f4076d8cee2ac17db797e356a7e119
--- /dev/null
+++ b/assets/urdf/WashingMachine/103452/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 13, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door", "children": []}], "jointData": {"axis": {"origin": [-0.39634952036082116, 0, 0.5660023993346881], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": -100.44, "noLimit": false}}}, {"id": 1, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 2, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.169236, 0.3006002720363913, -0.11288065983810239], "direction": [0, -0.35154813892566605, -0.9361698061879056]}, "limit": {"a": 0, "b": 0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 3, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.169236, 0.32057194517621496, -0.12037501125527603], "direction": [0, 0.35153439149323096, 0.9361749684741011]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 3, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 4, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.169236, 0.34100429759108253, -0.1280473752563101], "direction": [0, 0.3515343914932277, 0.9361749684741021]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 4, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 5, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.169236, 0.36016682829972835, -0.13522288403373306], "direction": [0, -0.3514887742397259, -0.936192096518367]}, "limit": {"a": 0, "b": 0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 5, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 6, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.105054, 0.2701629539716974, -0.10144026549978791], "direction": [0, 0.35151580883807765, 0.9361819460643919]}, "limit": {"a": 0, "b": -0.0040000000000000036, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 6, "parent": 13, "joint": "hinge", "name": "knob", "parts": [{"id": 7, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.002873999999999998, 0.31949300040044676, -0.1199371938269686], "direction": [0, 0.3514505125175489, 0.9362064608040005]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 7, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 8, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.09451699999999999, 0.27039174436385216, -0.10152874321432533], "direction": [0, -0.3515235951613972, -0.9361790224336403]}, "limit": {"a": 0, "b": 0.0040000000000000036, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 8, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 9, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.200618, 0.2625630772106741, -0.09857246713883795], "direction": [0, -0.35147138562358277, -0.9361986248055691]}, "limit": {"a": 0, "b": 0.0040000000000000036, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 9, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 10, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.248135, 0.26246948910752416, -0.09858009623916024], "direction": [0, -0.35160504588066355, -0.9361484346572699]}, "limit": {"a": 0, "b": 0.0040000000000000036, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 10, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 11, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.338244789476509, 0.32568995955927016, -0.06662848452328046], "direction": [-0.06869994616827972, 0.2679425303105146, 0.960982371246879]}, "limit": {"a": 0, "b": -0.0040000000000000036, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 11, "parent": 13, "joint": "slider", "name": "button", "parts": [{"id": 12, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.347921, 0.26239728268366846, -0.09858569613428338], "direction": [0, 0.35170736227292104, 0.9361099995849976]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 12, "parent": 13, "joint": "hinge", "name": "knob", "parts": [{"id": 13, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.4234695, 0.3142431176075654, -0.11824446549014532], "direction": [0, 0.35217627984589034, 0.9359336877759606]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 13, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 14, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103452/model_data.json b/assets/urdf/WashingMachine/103452/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d031f2498532269eabcdc7cd2965cb8ea4c8acf
--- /dev/null
+++ b/assets/urdf/WashingMachine/103452/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 1.4,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.2588199973106384,
+                        0.25,
+                        0.9330099821090698,
+                        -0.5857099890708923
+                    ],
+                    [
+                        0.0,
+                        0.9659299850463867,
+                        -0.2588199973106384,
+                        -0.22856999933719635
+                    ],
+                    [
+                        -0.9659299850463867,
+                        -0.06699000298976898,
+                        -0.25,
+                        -0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103452/result.json b/assets/urdf/WashingMachine/103452/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..648a97a519b6d1daa96f32d85f6c22f81ee3d4ac
--- /dev/null
+++ b/assets/urdf/WashingMachine/103452/result.json
@@ -0,0 +1 @@
+[{"text": "WashingMachine", "name": "WashingMachine", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-119", "original-4", "original-118", "original-89", "original-88", "original-90", "original-91", "original-82", "original-85", "original-86", "original-87", "original-94"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-21"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-20"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-19"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-18"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-66", "original-36", "original-67", "original-65", "original-35"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-45"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-40", "original-70", "original-68", "original-69", "original-37"]}, {"text": "button", "name": "button", "id": 9, "objs": ["original-30", "original-100"]}, {"text": "button", "name": "button", "id": 10, "objs": ["original-28", "original-101"]}, {"text": "button", "name": "button", "id": 11, "objs": ["original-26", "original-102"]}, {"text": "button", "name": "button", "id": 12, "objs": ["original-23"]}, {"text": "button", "name": "button", "id": 13, "objs": ["original-15"]}, {"text": "base_body", "name": "base_body", "id": 14, "objs": ["original-29", "original-103", "original-123", "original-126", "original-41", "original-124", "original-96", "original-64", "original-43", "original-71", "original-52", "original-83", "original-22", "original-110", "original-107", "original-104", "original-3", "original-33", "original-2", "original-44", "original-112", "original-106", "original-16", "original-8", "original-109", "original-13", "original-9", "original-49", "original-93", "original-61", "original-39", "original-59", "original-5", "original-77", "original-114", "original-54", "original-63", "original-27", "original-51", "original-55", "original-113", "original-50", "original-111", "original-6", "original-31", "original-48", "original-116", "original-122", "original-56", "original-76", "original-108", "original-72", "original-99", "original-127", "original-62", "original-75", "original-58", "original-98", "original-11", "original-38", "original-80", "original-34", "original-74", "original-25", "original-17", "original-73", "original-12", "original-92", "original-42", "original-79", "original-24", "original-115", "original-32", "original-47", "original-95", "original-53", "original-7", "original-105", "original-1", "original-81", "original-84", "original-121", "original-78", "original-97", "original-10", "original-14", "original-60", "original-46", "original-57"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103452/result_original.json b/assets/urdf/WashingMachine/103452/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d18225435ab88d5d4d3073c24c1111a4b59c34b
--- /dev/null
+++ b/assets/urdf/WashingMachine/103452/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "WashingMachine", "text": "WashingMachine", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-119", "original-4", "original-118", "original-89", "original-88", "original-90", "original-91", "original-82", "original-85", "original-86", "original-87", "original-94"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-21"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-20"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-19"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-18"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-66", "original-36", "original-67", "original-65", "original-35"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-45"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-40", "original-70", "original-68", "original-69", "original-37"]}, {"id": 9, "name": "button", "text": "button", "objs": ["original-30", "original-100"]}, {"id": 10, "name": "button", "text": "button", "objs": ["original-28", "original-101"]}, {"id": 11, "name": "button", "text": "button", "objs": ["original-26", "original-102"]}, {"id": 12, "name": "button", "text": "button", "objs": ["original-23"]}, {"id": 13, "name": "button", "text": "button", "objs": ["original-15"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103452/semantics.txt b/assets/urdf/WashingMachine/103452/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c7e102ccc5ba841b144c3e550aa1e13924021da6
--- /dev/null
+++ b/assets/urdf/WashingMachine/103452/semantics.txt
@@ -0,0 +1,14 @@
+link_0 hinge door
+link_1 slider button
+link_2 slider button
+link_3 slider button
+link_4 slider button
+link_5 slider button
+link_6 hinge knob
+link_7 slider button
+link_8 slider button
+link_9 slider button
+link_10 slider button
+link_11 slider button
+link_12 hinge knob
+link_13 heavy washing_machine_body
diff --git a/assets/urdf/WashingMachine/103480/bounding_box.json b/assets/urdf/WashingMachine/103480/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..f097e93c21e2ff1b29608535e65daf970dd12264
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.83124, -0.586264, -0.654104], "max": [0.504227, 0.544418, 0.762598]}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103480/grasp_poses.json b/assets/urdf/WashingMachine/103480/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..524b22ef563316a32eaba2c9214cf98128f9e36c
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "103480",
+    "scale": 1.4,
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08715999871492386,
+                        -0.9961900115013123,
+                        0.0,
+                        -0.5214300155639648
+                    ],
+                    [
+                        0.42100998759269714,
+                        0.03683000057935715,
+                        -0.9063100218772888,
+                        0.8214300274848938
+                    ],
+                    [
+                        0.9028599858283997,
+                        0.07898999750614166,
+                        0.4226199984550476,
+                        0.007139999885112047
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103480/meta.json b/assets/urdf/WashingMachine/103480/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b1750681c7501ebefdd4eb1eea312754086e81e
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "WashingMachine", "model_id": "u094c89ee-d9f6-4266-a9b3-c1f2549b1105", "version": "1", "anno_id": "3480", "time_in_sec": "409"}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103480/mobility.urdf b/assets/urdf/WashingMachine/103480/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a1f8a900deb524b18381e3e9318be88bf587f7e8
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/mobility.urdf
@@ -0,0 +1,1366 @@
+<?xml version="1.0" ?>
+<robot name="partnet_u094c89ee-d9f6-4266-a9b3-c1f2549b1105">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="button-2">
+			<origin xyz="-0.311682 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-2">
+			<origin xyz="-0.311682 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.311682 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.311682 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0.311682 0.3927445 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-3">
+			<origin xyz="-0.27511050000000004 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-3">
+			<origin xyz="-0.27511050000000004 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.27511050000000004 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.27511050000000004 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.27511050000000004 0.3927445 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-4">
+			<origin xyz="-0.2385385 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-4">
+			<origin xyz="-0.2385385 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2385385 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2385385 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.2385385 0.3927445 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-5">
+			<origin xyz="-0.2019665 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-5">
+			<origin xyz="-0.2019665 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-5">
+			<origin xyz="-0.2019665 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2019665 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2019665 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2019665 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.2019665 0.3927445 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_3"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-6">
+			<origin xyz="-0.1149915 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="-0.1149915 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="-0.1149915 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="-0.1149915 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="-0.1149915 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1149915 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.1149915 -0.3927445 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.1149915 -0.3927445 0"/>
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+		<collision>
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+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_8"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/WashingMachine/103480/mobility_v2.json b/assets/urdf/WashingMachine/103480/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2f34e03c57b5e6f3fd5094da0188c10300dc107
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 8, "joint": "slider", "name": "button", "parts": [{"id": 2, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.311682, 0.3927445, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": 8, "joint": "slider", "name": "button", "parts": [{"id": 3, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.27511050000000004, 0.3927445, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": 8, "joint": "slider", "name": "button", "parts": [{"id": 4, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.2385385, 0.3927445, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 3, "parent": 8, "joint": "slider", "name": "button", "parts": [{"id": 5, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.2019665, 0.3927445, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 4, "parent": 8, "joint": "slider", "name": "button", "parts": [{"id": 6, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.1149915, 0.3927445, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 5, "parent": 8, "joint": "slider", "name": "button", "parts": [{"id": 7, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.4194055, 0.3927445, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 6, "parent": 8, "joint": "hinge", "name": "door", "parts": [{"id": 8, "name": "door", "children": []}], "jointData": {"axis": {"origin": [-0.24600027414038766, 0, 0.5231386214122178], "direction": [0, 1, 0]}, "limit": {"a": 178, "b": 69.84, "noLimit": false}}}, {"id": 7, "parent": 8, "joint": "hinge", "name": "knob", "parts": [{"id": 9, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.00973973939746098, 0.4139545, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 8, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 10, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103480/model_data.json b/assets/urdf/WashingMachine/103480/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6ab48850dd3a12f3e2ca81c1298308c252e59aa
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 1.4,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08715999871492386,
+                        -0.9961900115013123,
+                        0.0,
+                        -0.5214300155639648
+                    ],
+                    [
+                        0.42100998759269714,
+                        0.03683000057935715,
+                        -0.9063100218772888,
+                        0.8214300274848938
+                    ],
+                    [
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+                        0.4226199984550476,
+                        0.007139999885112047
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103480/result.json b/assets/urdf/WashingMachine/103480/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..2981eb82eec6661f4151ba82d13dc3de27681cd0
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/result.json
@@ -0,0 +1 @@
+[{"text": "WashingMachine", "name": "WashingMachine", "id": 0, "children": [{"text": "button", "name": "button", "id": 2, "objs": ["original-85", "original-91"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-84", "original-90"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-86", "original-89"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-80", "original-78", "original-88"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-67", "original-72", "original-73", "original-71", "original-70"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-76", "original-82", "original-81", "original-83", "original-75"]}, {"text": "door", "name": "door", "id": 8, "objs": ["original-29", "original-21", "original-27", "original-25", "original-20", "original-24", "original-22", "original-28", "original-7", "original-8"]}, {"text": "button", "name": "button", "id": 9, "objs": ["original-92"]}, {"text": "base_body", "name": "base_body", "id": 10, "objs": ["original-103", "original-100", "original-36", "original-41", "original-96", "original-64", "original-43", "original-52", "original-110", "original-107", "original-104", "original-3", "original-65", "original-33", "original-2", "original-44", "original-112", "original-106", "original-109", "original-9", "original-45", "original-35", "original-49", "original-93", "original-61", "original-39", "original-59", "original-5", "original-77", "original-54", "original-63", "original-87", "original-51", "original-55", "original-113", "original-50", "original-111", "original-6", "original-31", "original-37", "original-48", "original-15", "original-56", "original-108", "original-99", "original-62", "original-23", "original-66", "original-58", "original-98", "original-69", "original-11", "original-38", "original-68", "original-34", "original-18", "original-74", "original-17", "original-12", "original-42", "original-79", "original-102", "original-32", "original-47", "original-95", "original-53", "original-105", "original-101", "original-1", "original-94", "original-97", "original-10", "original-14", "original-60", "original-40", "original-46", "original-57"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103480/result_original.json b/assets/urdf/WashingMachine/103480/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..483cdd364eebb5998eb6c5f112986099b45aa111
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "WashingMachine", "text": "WashingMachine", "children": [{"id": 2, "name": "button", "text": "button", "objs": ["original-85", "original-91"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-84", "original-90"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-86", "original-89"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-80", "original-78", "original-88"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-67", "original-72", "original-73", "original-71", "original-70"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-76", "original-82", "original-81", "original-83", "original-75"]}, {"id": 8, "name": "door", "text": "door", "objs": ["original-29", "original-21", "original-27", "original-25", "original-20", "original-24", "original-22", "original-28", "original-7", "original-8"]}, {"id": 9, "name": "button", "text": "button", "objs": ["original-92"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103480/semantics.txt b/assets/urdf/WashingMachine/103480/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c502e40fe4c9af370f07d2e563d09aac62128a5b
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/semantics.txt
@@ -0,0 +1,9 @@
+link_0 slider button
+link_1 slider button
+link_2 slider button
+link_3 slider button
+link_4 slider button
+link_5 slider button
+link_6 hinge door
+link_7 hinge knob
+link_8 heavy washing_machine_body
diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-1.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca2a98a8ec22123221ce41405c50875638eb16a7
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-1.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID649
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-10.mtl b/assets/urdf/WashingMachine/103480/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..964082b9f635218fb8a6d07cbfaee1055c90c4d1
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-10.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39e0f60dff9e950c9e0e602fc82b36fc2b5681b0
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-10.obj
@@ -0,0 +1,85 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID48
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-100.mtl b/assets/urdf/WashingMachine/103480/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fa8d41ac34ae74aa16d98ead34d543d9873967e8
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-100.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.47843137254901963 1 0.15294117647058825 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-100.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e262b34426b7e15514ac567e8de6589fe2ebbea4
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-100.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 100
+mtllib original-100.mtl
+o #ID573
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-101.mtl b/assets/urdf/WashingMachine/103480/textured_objs/original-101.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fa8d41ac34ae74aa16d98ead34d543d9873967e8
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-101.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-101.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5349e61bd662cbfd17cd0e5e9b392c80a0651ea
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-101.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 101
+mtllib original-101.mtl
+o #ID579
+v 0.283138 0.447354 0.517348
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-103.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecad023a9fa69141a160b7cf9c12307b9870ee57
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-103.obj
@@ -0,0 +1,14 @@
+# SSTK version 0.8.0
+# 103
+mtllib original-103.mtl
+o #ID591
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-104.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce65e636a3fbe568706eaa81abe27574981cdae1
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-104.obj
@@ -0,0 +1,14 @@
+# SSTK version 0.8.0
+# 104
+mtllib original-104.mtl
+o #ID597
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-105.mtl b/assets/urdf/WashingMachine/103480/textured_objs/original-105.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-105.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-105.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12e7319ac249568ba445a42964bf895a7b68f6c4
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-105.obj
@@ -0,0 +1,14 @@
+# SSTK version 0.8.0
+# 105
+mtllib original-105.mtl
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-106.mtl b/assets/urdf/WashingMachine/103480/textured_objs/original-106.mtl
new file mode 100644
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-106.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad3ade01f7bf9cfe4d03b7d4716d70f7a95ad2e
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-106.obj
@@ -0,0 +1,14 @@
+# SSTK version 0.8.0
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+mtllib original-106.mtl
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-107.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-107.obj
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--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-107.obj
@@ -0,0 +1,14 @@
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new file mode 100644
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--- /dev/null
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-12.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..785a97eb01694f5131665698fcb89f25e8cb5e1d
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-12.obj
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new file mode 100644
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--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-17.obj
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-20.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-20.obj
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-21.mtl b/assets/urdf/WashingMachine/103480/textured_objs/original-21.mtl
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index 0000000000000000000000000000000000000000..d92059235e40db39b884e8042a161b27564a6a32
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-22.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-22.obj
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index 0000000000000000000000000000000000000000..b02072cf0391d3823ed5f39c0ea665b343765430
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--- /dev/null
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index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-72.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-72.obj
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--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-72.obj
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--- /dev/null
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-90.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eac1ae88dd5c43d1be4c8a7e4a21a74064b5c4e
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-90.obj
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-91.mtl b/assets/urdf/WashingMachine/103480/textured_objs/original-91.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-92.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-92.obj
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index 0000000000000000000000000000000000000000..030fc809f6f83b6ea644586b81f1e53fe6c4d88b
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-92.obj
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-93.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7798e25a4edac432b095a660dbfb4d5f08ebbef6
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-93.obj
@@ -0,0 +1,36 @@
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-95.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511ef7fce05d0b50c1c69bb807901791c3f074be
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-95.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-97.mtl b/assets/urdf/WashingMachine/103480/textured_objs/original-97.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-97.mtl
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-97.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-97.obj
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index 0000000000000000000000000000000000000000..6dd9b8bd7a56d8b94da3e81bb91c83aa6703dacd
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-97.obj
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-98.mtl b/assets/urdf/WashingMachine/103480/textured_objs/original-98.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fa8d41ac34ae74aa16d98ead34d543d9873967e8
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-98.mtl
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-98.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf0ef9cd017ba1b88ac53b18b2bb5ce4870357b
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-98.obj
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index 0000000000000000000000000000000000000000..fa8d41ac34ae74aa16d98ead34d543d9873967e8
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+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-99.mtl
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diff --git a/assets/urdf/WashingMachine/103480/textured_objs/original-99.obj b/assets/urdf/WashingMachine/103480/textured_objs/original-99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdcc7e3f0d2657c76ed9b2975c32d24ebe0d0cfb
--- /dev/null
+++ b/assets/urdf/WashingMachine/103480/textured_objs/original-99.obj
@@ -0,0 +1,36 @@
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+v 0.234278 0.461284 0.517348
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+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 2//1 4//1 5//1
+f 5//1 4//1 6//1
+f 5//1 6//1 7//1
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+f 8//1 4//1 9//1
+f 3//1 10//1 11//1
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diff --git a/assets/urdf/WashingMachine/103508/result_original.json b/assets/urdf/WashingMachine/103508/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d0bca290200bff50aaaf4ae3abc52ce97fee171
--- /dev/null
+++ b/assets/urdf/WashingMachine/103508/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "WashingMachine", "text": "WashingMachine", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-71", "original-77", "original-76", "original-74", "original-75", "original-69", "original-70"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-60"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-64"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-56"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103518/bounding_box.json b/assets/urdf/WashingMachine/103518/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..578220ec45e25fcb39acde60c731c67cea712369
--- /dev/null
+++ b/assets/urdf/WashingMachine/103518/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.505142, -0.77684, -0.561194], "max": [0.5088, 0.659577, 0.508177]}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103518/grasp_poses.json b/assets/urdf/WashingMachine/103518/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cac3649a1055540c8abef28fb6441702977ad86
--- /dev/null
+++ b/assets/urdf/WashingMachine/103518/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "103518",
+    "scale": 1.4,
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.1127299964427948,
+                        -0.5648599863052368,
+                        0.8174499869346619,
+                        -0.5071399807929993
+                    ],
+                    [
+                        -0.19617000222206116,
+                        0.8191499710083008,
+                        0.5389900207519531,
+                        -0.28571000695228577
+                    ],
+                    [
+                        -0.9740700125694275,
+                        -0.09960000216960907,
+                        -0.20316000282764435,
+                        0.10000000149011612
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103518/meta.json b/assets/urdf/WashingMachine/103518/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a658101cde9a7635f364658f4310150bfbeba19b
--- /dev/null
+++ b/assets/urdf/WashingMachine/103518/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "WashingMachine", "model_id": "ucfaedfea-c15a-495c-9037-21108eeeb006", "version": "1", "anno_id": "3518", "time_in_sec": "38"}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103518/mobility.urdf b/assets/urdf/WashingMachine/103518/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..882f02391ed57af328c1519a8d37f6373c0211f5
--- /dev/null
+++ b/assets/urdf/WashingMachine/103518/mobility.urdf
@@ -0,0 +1,1896 @@
+<?xml version="1.0" ?>
+<robot name="partnet_ucfaedfea-c15a-495c-9037-21108eeeb006">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.34297031951136614 0 -0.4413957591354833"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.34297031951136614 0 -0.4413957591354833"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.34297031951136614 0 -0.4413957591354833"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.34297031951136614 0 -0.4413957591354833"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.34297031951136614 0 -0.4413957591354833"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.34297031951136614 0 -0.4413957591354833"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.34297031951136614 0 0.4413957591354833"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_7"/>
+		<limit lower="-0.0" upper="1.6147786239451534"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="-0.40740559569171403 -0.496502 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.40740559569171403 -0.496502 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.40740559569171403 0.496502 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="-0.2553145773830434 -0.49650199999999994 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2553145773830434 -0.49650199999999994 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.2553145773830434 0.49650199999999994 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="-0.1055755 -0.4828895 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-144.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1055755 -0.4828895 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-144.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.1055755 0.4828895 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_3"/>
+		<parent link="link_7"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-5">
+			<origin xyz="-0.020985 -0.482985 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-142.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.020985 -0.482985 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-142.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.020985 0.482985 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_4"/>
+		<parent link="link_7"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-6">
+			<origin xyz="0.029712 -0.482985 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-141.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.029712 -0.482985 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-141.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="-0.029712 0.482985 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_5"/>
+		<parent link="link_7"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-7">
+			<origin xyz="0.0804095 -0.482985 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-143.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0804095 -0.482985 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-143.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="-0.0804095 0.482985 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_6"/>
+		<parent link="link_7"/>
+		<limit lower="0" upper="0.012000000000000014"/>
+	</joint>
+	<link name="link_7">
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-152.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-132.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-154.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-126.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-134.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-117.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-110.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-153.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-107.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-128.obj"/>
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+			<origin xyz="0 0 0"/>
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+			<geometry>
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+			<geometry>
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+			<geometry>
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+			<geometry>
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+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<origin xyz="0 0 0"/>
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+			<geometry>
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+			<geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<geometry>
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+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-120.obj"/>
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+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_7"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/WashingMachine/103518/mobility_v2.json b/assets/urdf/WashingMachine/103518/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..79232862a42b97af954119956b8f37d03cc25d19
--- /dev/null
+++ b/assets/urdf/WashingMachine/103518/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 7, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door", "children": []}], "jointData": {"axis": {"origin": [-0.34297031951136614, 0, 0.4413957591354833], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": -92.51999999999998, "noLimit": false}}}, {"id": 1, "parent": 7, "joint": "hinge", "name": "knob", "parts": [{"id": 2, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.40740559569171403, 0.496502, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": 7, "joint": "hinge", "name": "knob", "parts": [{"id": 3, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.2553145773830434, 0.49650199999999994, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": 7, "joint": "slider", "name": "button", "parts": [{"id": 4, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.1055755, 0.4828895, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 4, "parent": 7, "joint": "slider", "name": "button", "parts": [{"id": 5, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.020985, 0.482985, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 5, "parent": 7, "joint": "slider", "name": "button", "parts": [{"id": 6, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.029712, 0.482985, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": -0.01200000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 6, "parent": 7, "joint": "slider", "name": "button", "parts": [{"id": 7, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.0804095, 0.482985, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0.012000000000000014, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 7, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 8, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103518/model_data.json b/assets/urdf/WashingMachine/103518/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..75ec1f48b4aca913678f2f909b6d7621190f28de
--- /dev/null
+++ b/assets/urdf/WashingMachine/103518/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 1.4,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.1127299964427948,
+                        -0.5648599863052368,
+                        0.8174499869346619,
+                        -0.5071399807929993
+                    ],
+                    [
+                        -0.19617000222206116,
+                        0.8191499710083008,
+                        0.5389900207519531,
+                        -0.28571000695228577
+                    ],
+                    [
+                        -0.9740700125694275,
+                        -0.09960000216960907,
+                        -0.20316000282764435,
+                        0.10000000149011612
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103518/result.json b/assets/urdf/WashingMachine/103518/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..931f384e77a8a8f2bd00c3f314a9b1eeb27eeb2b
--- /dev/null
+++ b/assets/urdf/WashingMachine/103518/result.json
@@ -0,0 +1 @@
+[{"text": "WashingMachine", "name": "WashingMachine", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-5", "original-3", "original-4"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-26"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-10"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-144"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-142"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-141"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-143"]}, {"text": "base_body", "name": "base_body", "id": 8, "objs": ["original-29", "original-103", "original-100", "original-123", "original-21", "original-30", "original-152", "original-132", "original-36", "original-154", "original-126", "original-119", "original-41", "original-28", "original-96", "original-64", "original-134", "original-43", "original-71", "original-52", "original-83", "original-22", "original-117", "original-110", "original-153", "original-107", "original-104", "original-149", "original-128", "original-65", "original-33", "original-130", "original-137", "original-139", "original-44", "original-112", "original-106", "original-16", "original-86", "original-8", "original-140", "original-147", "original-109", "original-13", "original-9", "original-125", "original-45", "original-35", "original-138", "original-156", "original-49", "original-93", "original-61", "original-39", "original-120", "original-59", "original-77", "original-114", "original-54", "original-150", "original-63", "original-27", "original-87", "original-51", "original-55", "original-113", "original-50", "original-111", "original-31", "original-37", "original-48", "original-15", "original-116", "original-85", "original-122", "original-56", "original-135", "original-76", "original-108", "original-72", "original-99", "original-136", "original-127", "original-62", "original-75", "original-133", "original-23", "original-158", "original-66", "original-58", "original-98", "original-67", "original-69", "original-11", "original-131", "original-38", "original-68", "original-146", "original-80", "original-34", "original-18", "original-70", "original-74", "original-118", "original-91", "original-25", "original-17", "original-73", "original-12", "original-92", "original-42", "original-79", "original-102", "original-24", "original-20", "original-88", "original-115", "original-32", "original-47", "original-95", "original-53", "original-7", "original-105", "original-101", "original-81", "original-84", "original-121", "original-94", "original-78", "original-97", "original-157", "original-89", "original-14", "original-82", "original-129", "original-60", "original-19", "original-90", "original-40", "original-151", "original-46", "original-155", "original-57"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103518/result_original.json b/assets/urdf/WashingMachine/103518/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2f01a008092207fe0d76260f5a459039645b56b
--- /dev/null
+++ b/assets/urdf/WashingMachine/103518/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "WashingMachine", "text": "WashingMachine", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-5", "original-3", "original-4"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-26"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-10"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-144"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-142"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-141"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-143"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103518/semantics.txt b/assets/urdf/WashingMachine/103518/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1a3ff8b857ffc66eb63169e565eecb64843f791e
--- /dev/null
+++ b/assets/urdf/WashingMachine/103518/semantics.txt
@@ -0,0 +1,8 @@
+link_0 hinge door
+link_1 hinge knob
+link_2 hinge knob
+link_3 slider button
+link_4 slider button
+link_5 slider button
+link_6 slider button
+link_7 heavy washing_machine_body
diff --git a/assets/urdf/WashingMachine/103775/grasp_poses.json b/assets/urdf/WashingMachine/103775/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c78cb092629d859aa808629c790d0162f635db26
--- /dev/null
+++ b/assets/urdf/WashingMachine/103775/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "103775",
+    "scale": 1.4,
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        0.4226199984550476,
+                        0.9063100218772888,
+                        -0.6447200179100037
+                    ],
+                    [
+                        0.0,
+                        0.9063100218772888,
+                        -0.4226199984550476,
+                        -0.2904700040817261
+                    ],
+                    [
+                        -1.0,
+                        -0.0,
+                        -0.0,
+                        -0.08049000054597855
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103775/meta.json b/assets/urdf/WashingMachine/103775/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f90a6b2376fb74f1c9abbe559bebb5178a3f80d
--- /dev/null
+++ b/assets/urdf/WashingMachine/103775/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "WashingMachine", "model_id": "4163de2ce7f6f59aed1d8381d2c075c2-0", "version": "1", "anno_id": "3775", "time_in_sec": "212"}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103775/mobility_v2.json b/assets/urdf/WashingMachine/103775/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d61166b6b86fb8f2758a8c1f4da7338d28cdf9a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103775/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door", "children": []}], "jointData": {"axis": {"origin": [-0.4146166991768276, 0, 0.5667437866539679], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": -97.19999999999999, "noLimit": false}}}, {"id": 1, "parent": 2, "joint": "slider", "name": "button", "parts": [{"id": 3, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.05796929305383816, 0.1116938634046033, -0.05984767735562315], "direction": [-0.07405249058244799, -0.5005848353488723, -0.8625143774206194]}, "limit": {"a": 0, "b": 0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 4, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103775/model_data.json b/assets/urdf/WashingMachine/103775/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4953e719b6dfd226bbb0bd15ef104881b71469cc
--- /dev/null
+++ b/assets/urdf/WashingMachine/103775/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 1.4,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        0.4226199984550476,
+                        0.9063100218772888,
+                        -0.6447200179100037
+                    ],
+                    [
+                        0.0,
+                        0.9063100218772888,
+                        -0.4226199984550476,
+                        -0.2904700040817261
+                    ],
+                    [
+                        -1.0,
+                        -0.0,
+                        -0.0,
+                        -0.08049000054597855
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103775/result.json b/assets/urdf/WashingMachine/103775/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..77dfaf4a176d65b09e8d828cf2a153627d1aaf81
--- /dev/null
+++ b/assets/urdf/WashingMachine/103775/result.json
@@ -0,0 +1 @@
+[{"text": "WashingMachine", "name": "WashingMachine", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-35", "original-34", "original-22", "original-32"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-1"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-29", "original-21", "original-30", "original-36", "original-28", "original-26", "original-4", "original-33", "original-16", "original-8", "original-13", "original-9", "original-5", "original-27", "original-6", "original-31", "original-37", "original-15", "original-23", "original-11", "original-38", "original-18", "original-25", "original-17", "original-12", "original-24", "original-20", "original-7", "original-10", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103775/result_original.json b/assets/urdf/WashingMachine/103775/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb9c0b55c00b4f093db92beeaba02af757d505d6
--- /dev/null
+++ b/assets/urdf/WashingMachine/103775/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "WashingMachine", "text": "WashingMachine", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-35", "original-34", "original-22", "original-32"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103776/bounding_box.json b/assets/urdf/WashingMachine/103776/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..185222f224286d926e1fb734e1862fabb858789b
--- /dev/null
+++ b/assets/urdf/WashingMachine/103776/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.438958, -0.69926, -0.455788], "max": [0.455142, 0.790908, 0.525969]}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103776/grasp_poses.json b/assets/urdf/WashingMachine/103776/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1efdf7744291b85439cf1784fc05a2dedaab7d3
--- /dev/null
+++ b/assets/urdf/WashingMachine/103776/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "103776",
+    "scale": 1.4,
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.05350999906659126,
+                        0.8408100008964539,
+                        0.5386800169944763,
+                        -0.40011999011039734
+                    ],
+                    [
+                        0.9983999729156494,
+                        0.03516000136733055,
+                        0.04428999871015549,
+                        -0.016349999234080315
+                    ],
+                    [
+                        0.018300000578165054,
+                        0.5401899814605713,
+                        -0.8413400053977966,
+                        0.5839200019836426
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103776/meta.json b/assets/urdf/WashingMachine/103776/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e51ea6fc24d6ccc6678428238425dc0d0b806895
--- /dev/null
+++ b/assets/urdf/WashingMachine/103776/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "WashingMachine", "model_id": "50c639910aa3d75f29d8eecf3827c486", "version": "1", "anno_id": "3776", "time_in_sec": "22"}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103776/mobility.urdf b/assets/urdf/WashingMachine/103776/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..52ec56ac68461bbd7b8ed60f1ea68a150310e4cc
--- /dev/null
+++ b/assets/urdf/WashingMachine/103776/mobility.urdf
@@ -0,0 +1,1487 @@
+<?xml version="1.0" ?>
+<robot name="partnet_50c639910aa3d75f29d8eecf3827c486">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0 -0.5355253180113568 0.1994985763728603"/>
+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.5355253180113568 0.1994985763728603"/>
+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.5355253180113568 -0.1994985763728603"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_4"/>
+		<limit lower="-0.0" upper="1.4011503235010472"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="-0.27982609723602747 -0.6644836434432643 0.337098325800473"/>
+			<geometry>
+				<mesh filename="textured_objs/original-110.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.27982609723602747 -0.6644836434432643 0.337098325800473"/>
+			<geometry>
+				<mesh filename="textured_objs/original-110.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.27982609723602747 0.6644836434432643 -0.337098325800473"/>
+		<axis xyz="-0.00011058445263238017 -0.45238328297170866 -0.8918236109561228"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+		<limit lower="-3.625397922242621" upper="-1.8151424220741026"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="0.12339422213495463 -0.6644895960455806 0.3370854992998754"/>
+			<geometry>
+				<mesh filename="textured_objs/original-111.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.12339422213495463 -0.6644895960455806 0.3370854992998754"/>
+			<geometry>
+				<mesh filename="textured_objs/original-111.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="-0.12339422213495463 0.6644895960455806 -0.3370854992998754"/>
+		<axis xyz="-3.851853449415025e-05 -0.45240912743601064 -0.8918105067383486"/>
+		<child link="link_2"/>
+		<parent link="link_4"/>
+		<limit lower="2.2996458224277285" upper="5.3092915845667505"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="0.26364518319175667 -0.6644922226391637 0.3370807741180237"/>
+			<geometry>
+				<mesh filename="textured_objs/original-109.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-129.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/WashingMachine/103776/mobility_v2.json b/assets/urdf/WashingMachine/103776/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..1197232473c5a3314440e62ca505b56437f62e35
--- /dev/null
+++ b/assets/urdf/WashingMachine/103776/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 4, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door", "children": []}], "jointData": {"axis": {"origin": [0, 0.5355253180113568, -0.1994985763728603], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -80.27999999999997, "noLimit": false}}}, {"id": 1, "parent": 4, "joint": "hinge", "name": "knob", "parts": [{"id": 2, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.27982609723602747, 0.6644836434432643, -0.337098325800473], "direction": [0.00011058445263238017, 0.45238328297170866, 0.8918236109561228]}, "limit": {"a": 207.71999999999997, "b": 104, "noLimit": false}}}, {"id": 2, "parent": 4, "joint": "hinge", "name": "knob", "parts": [{"id": 3, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.12339422213495463, 0.6644895960455806, -0.3370854992998754], "direction": [-3.851853449415025e-05, -0.45240912743601064, -0.8918105067383486]}, "limit": {"a": 131.76, "b": 304.2, "noLimit": false}}}, {"id": 3, "parent": 4, "joint": "hinge", "name": "knob", "parts": [{"id": 4, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.26364518319175667, 0.6644922226391637, -0.3370807741180237], "direction": [-3.851853449415036e-05, -0.45240912743601075, -0.8918105067383486]}, "limit": {"a": 0, "b": 82.08, "noLimit": false}}}, {"id": 4, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103776/model_data.json b/assets/urdf/WashingMachine/103776/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..69cdf99ba67557cc4e88f0493633ca877fd3df65
--- /dev/null
+++ b/assets/urdf/WashingMachine/103776/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 1.4,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.05350999906659126,
+                        0.8408100008964539,
+                        0.5386800169944763,
+                        -0.40011999011039734
+                    ],
+                    [
+                        0.9983999729156494,
+                        0.03516000136733055,
+                        0.04428999871015549,
+                        -0.016349999234080315
+                    ],
+                    [
+                        0.018300000578165054,
+                        0.5401899814605713,
+                        -0.8413400053977966,
+                        0.5839200019836426
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103776/result.json b/assets/urdf/WashingMachine/103776/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..8242a81d9d2f5c6bb39a1adb2ce9f2df47ec90dd
--- /dev/null
+++ b/assets/urdf/WashingMachine/103776/result.json
@@ -0,0 +1 @@
+[{"text": "WashingMachine", "name": "WashingMachine", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-105"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-110"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-111"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-109"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-29", "original-100", "original-123", "original-30", "original-132", "original-126", "original-119", "original-28", "original-124", "original-96", "original-64", "original-134", "original-43", "original-71", "original-52", "original-83", "original-22", "original-117", "original-107", "original-104", "original-4", "original-3", "original-128", "original-65", "original-33", "original-2", "original-130", "original-44", "original-112", "original-106", "original-16", "original-86", "original-8", "original-13", "original-9", "original-125", "original-35", "original-61", "original-39", "original-120", "original-59", "original-5", "original-77", "original-114", "original-54", "original-63", "original-27", "original-87", "original-51", "original-55", "original-113", "original-50", "original-6", "original-37", "original-48", "original-116", "original-85", "original-122", "original-56", "original-135", "original-76", "original-108", "original-72", "original-99", "original-127", "original-62", "original-133", "original-23", "original-66", "original-58", "original-98", "original-67", "original-69", "original-11", "original-131", "original-38", "original-68", "original-80", "original-34", "original-18", "original-70", "original-74", "original-118", "original-91", "original-25", "original-17", "original-73", "original-12", "original-92", "original-42", "original-79", "original-102", "original-24", "original-20", "original-88", "original-115", "original-32", "original-47", "original-95", "original-53", "original-101", "original-81", "original-84", "original-121", "original-94", "original-78", "original-97", "original-89", "original-10", "original-14", "original-129", "original-19", "original-90", "original-40", "original-46", "original-57"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103776/result_original.json b/assets/urdf/WashingMachine/103776/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..107e7cf5d8a7767a09a61081a6da3994869388d7
--- /dev/null
+++ b/assets/urdf/WashingMachine/103776/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "WashingMachine", "text": "WashingMachine", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-105"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-110"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-111"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-109"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103776/semantics.txt b/assets/urdf/WashingMachine/103776/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9d6c1e398e5112ca6c50113f3eb55eeac39afacd
--- /dev/null
+++ b/assets/urdf/WashingMachine/103776/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge door
+link_1 hinge knob
+link_2 hinge knob
+link_3 hinge knob
+link_4 heavy washing_machine_body
diff --git a/assets/urdf/WashingMachine/103778/bounding_box.json b/assets/urdf/WashingMachine/103778/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ad8f99f6ddf3e81ff7297dc9ab8b8239b33356c
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.63611, -0.548267, -0.639105], "max": [0.640976, 0.549557, 0.737587]}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103778/grasp_poses.json b/assets/urdf/WashingMachine/103778/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f9df70c8d7ba9b7100e68f4b4371668804e0fe7
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "103778",
+    "scale": 1.4,
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9698500037193298,
+                        -0.17364999651908875,
+                        0.17101000249385834,
+                        -0.7357100248336792
+                    ],
+                    [
+                        0.17101000249385834,
+                        0.9848099946975708,
+                        0.030150000005960464,
+                        -0.3071399927139282
+                    ],
+                    [
+                        -0.17364999651908875,
+                        0.0,
+                        0.9848099946975708,
+                        0.007139999885112047
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103778/meta.json b/assets/urdf/WashingMachine/103778/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4172cf3a043636b6fa41a99117df938729005a0b
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "WashingMachine", "model_id": "62e22f4d1846d8c1fdc6c1669e5c540", "version": "1", "anno_id": "3778", "time_in_sec": "321"}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103778/mobility.urdf b/assets/urdf/WashingMachine/103778/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5a68f3b0523dfb35af355eb82a960fa4dc591bb5
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/mobility.urdf
@@ -0,0 +1,622 @@
+<?xml version="1.0" ?>
+<robot name="partnet_62e22f4d1846d8c1fdc6c1669e5c540">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.3505438306555218 0 0.6806900316849398"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_8"/>
+		<limit lower="-0.0" upper="1.8975219627682356"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-2">
+			<origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.1254727105552122 0.46922082066593773 -0.007191497597979165"/>
+		<axis xyz="0.057221323792074306 0 -0.9983615177396826"/>
+		<child link="link_1"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-3">
+			<origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.07681543618556444 0.4700815299895653 -0.004343945367298942"/>
+		<axis xyz="0.05646021769965069 0 -0.9984048496563447"/>
+		<child link="link_2"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-4">
+			<origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.026295263185476956 0.4705311323852867 -0.0014205888183748611"/>
+		<axis xyz="0.056956749082280156 0.00016876671139097167 -0.9983766324648106"/>
+		<child link="link_3"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-5">
+			<origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-5">
+			<origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.025673077525130164 0.47040859730475854 0.0014714584114564418"/>
+		<axis xyz="0.05722132379207521 0 -0.9983615177396826"/>
+		<child link="link_4"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-6">
+			<origin xyz="0.10969627580945299 -0.4090461987727474 0.0062338618710563645"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.10969627580945299 -0.4090461987727474 0.0062338618710563645"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="-0.10969627580945299 0.4090461987727474 -0.0062338618710563645"/>
+		<axis xyz="0.05671033450071591 -7.1308825345771066e-06 -0.9983906739898802"/>
+		<child link="link_5"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-7">
+			<origin xyz="0.038726023511953006 -0.40904404153236845 0.0022069225049517675"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.038726023511953006 -0.40904404153236845 0.0022069225049517675"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="-0.038726023511953006 0.40904404153236845 -0.0022069225049517675"/>
+		<axis xyz="0.05678819114138993 -1.0219296854522412e-05 -0.9983862485243148"/>
+		<child link="link_6"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_7">
+		<visual name="button-8">
+			<origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-8">
+			<origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-8">
+			<origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.10361798531120239 -0.41190382455618996 -0.00589765830153544"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.10361798531120239 0.41190382455618996 0.00589765830153544"/>
+		<axis xyz="-0.05682535370526588 0 0.9983841340767948"/>
+		<child link="link_7"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_8">
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_8"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/WashingMachine/103778/mobility_v2.json b/assets/urdf/WashingMachine/103778/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..70d768409489b431cd55e9ee31a5e8f82ee2ed01
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 8, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door", "children": []}], "jointData": {"axis": {"origin": [-0.3505438306555218, 0, 0.6806900316849398], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": -108.72000000000003, "noLimit": false}}}, {"id": 1, "parent": 8, "joint": "slider", "name": "button", "parts": [{"id": 2, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.1254727105552122, 0.46922082066593773, -0.007191497597979165], "direction": [-0.057221323792074306, 0, 0.9983615177396826]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": 8, "joint": "slider", "name": "button", "parts": [{"id": 3, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.07681543618556444, 0.4700815299895653, -0.004343945367298942], "direction": [-0.05646021769965069, 0, 0.9984048496563447]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 3, "parent": 8, "joint": "slider", "name": "button", "parts": [{"id": 4, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.026295263185476956, 0.4705311323852867, -0.0014205888183748611], "direction": [-0.056956749082280156, -0.00016876671139097167, 0.9983766324648106]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 4, "parent": 8, "joint": "slider", "name": "button", "parts": [{"id": 5, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.025673077525130164, 0.47040859730475854, 0.0014714584114564418], "direction": [0.05722132379207521, 0, -0.9983615177396826]}, "limit": {"a": 0, "b": 0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 5, "parent": 8, "joint": "slider", "name": "button", "parts": [{"id": 6, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.10969627580945299, 0.4090461987727474, -0.0062338618710563645], "direction": [-0.05671033450071591, 7.1308825345771066e-06, 0.9983906739898802]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 6, "parent": 8, "joint": "slider", "name": "button", "parts": [{"id": 7, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.038726023511953006, 0.40904404153236845, -0.0022069225049517675], "direction": [-0.05678819114138993, 1.0219296854522412e-05, 0.9983862485243148]}, "limit": {"a": 0, "b": -0.0020000000000000035, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 7, "parent": 8, "joint": "hinge", "name": "knob", "parts": [{"id": 8, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.10361798531120239, 0.41190382455618996, 0.00589765830153544], "direction": [-0.05682535370526588, 0, 0.9983841340767948]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 8, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 9, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103778/model_data.json b/assets/urdf/WashingMachine/103778/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5ffe2c8778a5fe8fbb527f14fd75ca20ffff0c7
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 1.4,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.9698500037193298,
+                        -0.17364999651908875,
+                        0.17101000249385834,
+                        -0.7357100248336792
+                    ],
+                    [
+                        0.17101000249385834,
+                        0.9848099946975708,
+                        0.030150000005960464,
+                        -0.3071399927139282
+                    ],
+                    [
+                        -0.17364999651908875,
+                        0.0,
+                        0.9848099946975708,
+                        0.007139999885112047
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103778/result.json b/assets/urdf/WashingMachine/103778/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..55124b7054553f29a1b04975b07fd630d13d4590
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/result.json
@@ -0,0 +1 @@
+[{"text": "WashingMachine", "name": "WashingMachine", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-31", "original-28", "original-17", "original-15"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-37", "original-9"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-36", "original-7"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-35", "original-5"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-34", "original-4"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-11"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-8"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-6", "original-33", "original-10"]}, {"text": "base_body", "name": "base_body", "id": 9, "objs": ["original-29", "original-21", "original-30", "original-41", "original-43", "original-22", "original-26", "original-3", "original-44", "original-16", "original-13", "original-45", "original-39", "original-27", "original-23", "original-38", "original-18", "original-25", "original-12", "original-42", "original-24", "original-20", "original-32", "original-47", "original-14", "original-19", "original-40", "original-46"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103778/result_original.json b/assets/urdf/WashingMachine/103778/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b043c99f1b2829eba1cd8517a38cbbd3c383297
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "WashingMachine", "text": "WashingMachine", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-31", "original-28", "original-17", "original-15"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-37", "original-9"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-36", "original-7"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-35", "original-5"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-34", "original-4"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-11"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-8"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-6", "original-33", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103778/semantics.txt b/assets/urdf/WashingMachine/103778/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12e5476496c1a7ba019e654e41813e16be12b61e
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/semantics.txt
@@ -0,0 +1,9 @@
+link_0 hinge door
+link_1 slider button
+link_2 slider button
+link_3 slider button
+link_4 slider button
+link_5 slider button
+link_6 slider button
+link_7 hinge knob
+link_8 heavy washing_machine_body
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-10.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..347eea91240bfc8f077655144ed2f379b2e7ee28
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7647058823529411 1 0.9686274509803922 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-10.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c5ad655e9958c6ad46761fa66538c0ec543dda5
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-10.obj
@@ -0,0 +1,201 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-11.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..347eea91240bfc8f077655144ed2f379b2e7ee28
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-11.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-11.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca4ddacbe656b39c12abd88fcc4d08532dcdaeb
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-11.obj
@@ -0,0 +1,593 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-12.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..347eea91240bfc8f077655144ed2f379b2e7ee28
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-12.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-12.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fffd3e263b5db1f9df3fb8a12d26fcfed0951c1
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-12.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-13.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-13.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e5d99f0ac62b364aca3b8d0b8e747091727cbb3
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-13.obj
@@ -0,0 +1,260 @@
+# SSTK version 0.8.0
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+mtllib original-13.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-14.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-14.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ef0347639bf46f242267461b38c64eda0393bf1
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-14.obj
@@ -0,0 +1,156 @@
+# SSTK version 0.8.0
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+mtllib original-14.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-15.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-15.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e9277e5d40445d5549e6ecc41abb31bb35edda8
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-15.obj
@@ -0,0 +1,102 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-16.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-16.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a987fd370bd26c9c74a29bb1dc0b1e126ad5239
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-16.obj
@@ -0,0 +1,168 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-17.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-17.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaf88e3e69683b4be3bc1b7163c8655125b13403
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-17.obj
@@ -0,0 +1,424 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-18.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-18.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54a207fc23665192188f41a4a360b6bef2cf6e66
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-18.obj
@@ -0,0 +1,200 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-19.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-19.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12fa07f5aa76da5635f4333f0752cbc6d702d0b9
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-19.obj
@@ -0,0 +1,184 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
+o mesh1/mesh1-geometry/material_1/component_6#mesh1-geometry
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-20.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-20.mtl
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+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-20.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52c839cefda24bb603ee43f3582ae89ef9d3257f
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-20.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
+o mesh1/mesh1-geometry/material_1/component_7#mesh1-geometry
+v -0.361446 0.415474 0.690127
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+vn 0.05671928527381334 0 -0.9983901655555445
+usemtl material_0_0
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+f 7/1/1 8/1/1 9/1/1
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-21.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-21.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a115fe708712167bbfa4dfd5b286955d5a040108
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-21.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
+o mesh1/mesh1-geometry/material_1/component_8#mesh1-geometry
+v -0.362858 0.378929 0.690046
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-22.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-23.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-23.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df1ccd790ca902e8e3060304415f4840f649c839
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-23.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
+o mesh1/mesh1-geometry/material_1/component_10#mesh1-geometry
+v -0.345628 0.448933 0.691025
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+vn 0.05671928527381334 0 -0.9983901655555445
+usemtl material_0_0
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-24.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-24.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38f5c3b0e35554bed2b5cb0ada755dc4d934f97d
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-24.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
+o mesh1/mesh1-geometry/material_1/component_11#mesh1-geometry
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+vn 0.05671928527381334 0 -0.9983901655555445
+usemtl material_0_0
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-25.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-25.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169f93b701e3b9ae0e5fbb29bd9e6140c5a05acd
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-25.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
+o mesh1/mesh1-geometry/material_1/component_12#mesh1-geometry
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+vn 0.05671928527381334 0 -0.9983901655555445
+usemtl material_0_0
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-26.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-26.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17da174883a205c38940d150b8737ddb172b9500
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-26.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
+o mesh1/mesh1-geometry/material_1/component_13#mesh1-geometry
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+vn 0.05671928527381334 0 -0.9983901655555445
+usemtl material_0_0
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+f 7/1/1 8/1/1 9/1/1
+f 10/1/2 11/1/2 12/1/2
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-27.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cc1185026f7f57099c18489371a918dcc08d1c76
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-27.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-27.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8e28d7e39393226b088d108a3a89010b9ae102c
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-27.obj
@@ -0,0 +1,1960 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-28.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-28.obj
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-29.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cc1185026f7f57099c18489371a918dcc08d1c76
--- /dev/null
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-29.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-29.obj
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index 0000000000000000000000000000000000000000..30810fc585755f89c1549cfa84072bb99797fa43
--- /dev/null
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-3.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..347eea91240bfc8f077655144ed2f379b2e7ee28
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-3.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-3.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-3.obj
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index 0000000000000000000000000000000000000000..2c0f93df4e201a1497184757ce931616b7323d8c
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-3.obj
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-30.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1deed0027d8ddd9f1382b138842542901fb83c6c
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
+d 0.5
+Ns 30
+Kd 0.2823529411764706 0.8196078431372549 0.8 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-30.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..800a47f086c542e9d13d671fb371a06afe5c84ff
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-30.obj
@@ -0,0 +1,340 @@
+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-31.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1deed0027d8ddd9f1382b138842542901fb83c6c
--- /dev/null
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-31.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-31.obj
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index 0000000000000000000000000000000000000000..4753da6d998f05937437425e356db707d2b6eb48
--- /dev/null
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-32.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3128eec3bf4da1f30555a11e517cc17541ef2b3d
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-32.mtl
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+illum 4
+d 0.62
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-32.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2981ba373778de36f73116e78a8d920e92b6fbb
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-32.obj
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-33.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45afe4379a8317096c8c2997d39c32cd7649e6d9
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-33.obj
@@ -0,0 +1,457 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-34.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-34.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-34.obj
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index 0000000000000000000000000000000000000000..4b29db8ec58203e53efdb414481edc61d17fc4dd
--- /dev/null
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-35.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-35.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-35.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80278eac34195a1345d8e6e076454c543e389ad8
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-35.obj
@@ -0,0 +1,185 @@
+# SSTK version 0.8.0
+# 35
+mtllib original-35.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-36.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-36.mtl
@@ -0,0 +1,14 @@
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+
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-36.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20e7e5b09c5cf61cb9835ad0d69b6f95cd85c5e2
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-36.obj
@@ -0,0 +1,185 @@
+# SSTK version 0.8.0
+# 36
+mtllib original-36.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-37.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-37.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-37.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfa36f60be9957ca5f6f4c8703acc4c1fc15d7f8
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-37.obj
@@ -0,0 +1,185 @@
+# SSTK version 0.8.0
+# 37
+mtllib original-37.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-38.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2ca6e91073dc6f740d3497fef2625638bb051f14
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-38.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-38.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f36f977d484f6e4e3ee42338d38a429366901906
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-38.obj
@@ -0,0 +1,25 @@
+# SSTK version 0.8.0
+# 38
+mtllib original-38.mtl
+o mesh1/mesh1-geometry/material_7/component_0#mesh1-geometry
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-39.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..df2bd0d01e22f09fc099f0861676305fc4e3ba8e
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-39.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-39.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92e1f1fd0f3b669847640da31ed1af8af5d32cb6
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-39.obj
@@ -0,0 +1,801 @@
+# SSTK version 0.8.0
+# 39
+mtllib original-39.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-4.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..347eea91240bfc8f077655144ed2f379b2e7ee28
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-4.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-4.obj
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index 0000000000000000000000000000000000000000..6baccc59e62780159474a2ab55ac5a3bad140f5f
--- /dev/null
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-40.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..df2bd0d01e22f09fc099f0861676305fc4e3ba8e
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-40.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-40.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfebe5f4f84c3868cc2ca831e1726b379894feee
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-40.obj
@@ -0,0 +1,25 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-41.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8adb5f12952f81cfccff5d4f51654d402183e102
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-41.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-41.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be621436fc78c30448f638c5031bbd97c2527bbd
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-41.obj
@@ -0,0 +1,73 @@
+# SSTK version 0.8.0
+# 41
+mtllib original-41.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-42.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8adb5f12952f81cfccff5d4f51654d402183e102
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-42.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-42.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c7f1e2ac6203fc0321472a91d8943aefe1699b4
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-42.obj
@@ -0,0 +1,241 @@
+# SSTK version 0.8.0
+# 42
+mtllib original-42.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-43.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8adb5f12952f81cfccff5d4f51654d402183e102
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-43.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-43.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d7cfe9ad3b2c93f5e19484f4da6da39d7e9b8d4
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-43.obj
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+# SSTK version 0.8.0
+# 43
+mtllib original-43.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-44.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8adb5f12952f81cfccff5d4f51654d402183e102
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-44.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-44.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a67c934a7a4274d288ffdc6f273ae14fb31760d5
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-44.obj
@@ -0,0 +1,185 @@
+# SSTK version 0.8.0
+# 44
+mtllib original-44.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-45.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8adb5f12952f81cfccff5d4f51654d402183e102
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-45.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-45.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3b04acf3890768e308c063b9d191678009946cf
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-45.obj
@@ -0,0 +1,185 @@
+# SSTK version 0.8.0
+# 45
+mtllib original-45.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-46.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97ed07ef9f9a382849544076a370eec8babb8cca
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-46.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
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+map_Kd ../images/texture_2.jpg
+
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-46.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc944c7cce89ec59f403356d82e76c0fadea8051
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-46.obj
@@ -0,0 +1,587 @@
+# SSTK version 0.8.0
+# 46
+mtllib original-46.mtl
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-47.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-47.obj
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-5.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..347eea91240bfc8f077655144ed2f379b2e7ee28
--- /dev/null
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-5.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-5.obj
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index 0000000000000000000000000000000000000000..8336bdf973930977320fb7ae3e08154c5aadd1e6
--- /dev/null
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-6.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..347eea91240bfc8f077655144ed2f379b2e7ee28
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-6.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-6.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfdf867d44a17d5583cd7e42850aeb6d0f6e2c87
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-6.obj
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index 0000000000000000000000000000000000000000..347eea91240bfc8f077655144ed2f379b2e7ee28
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-7.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-7.obj
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index 0000000000000000000000000000000000000000..88a7e177e55924b96f8afc917de1c275dc8fe39e
--- /dev/null
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-8.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..347eea91240bfc8f077655144ed2f379b2e7ee28
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-8.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7647058823529411 1 0.9686274509803922 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-8.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6f617f1ccbaf54e89e30fde17c953328bdbd18e
--- /dev/null
+++ b/assets/urdf/WashingMachine/103778/textured_objs/original-8.obj
@@ -0,0 +1,593 @@
+# SSTK version 0.8.0
+# 8
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-9.mtl b/assets/urdf/WashingMachine/103778/textured_objs/original-9.mtl
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index 0000000000000000000000000000000000000000..347eea91240bfc8f077655144ed2f379b2e7ee28
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diff --git a/assets/urdf/WashingMachine/103778/textured_objs/original-9.obj b/assets/urdf/WashingMachine/103778/textured_objs/original-9.obj
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index 0000000000000000000000000000000000000000..5c009e1b3cef7953401f8fe053550c88d4b6a776
--- /dev/null
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diff --git a/assets/urdf/WashingMachine/103781/bounding_box.json b/assets/urdf/WashingMachine/103781/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..032bb7a76a5c8c707ac92bad336a6dce59742ad8
--- /dev/null
+++ b/assets/urdf/WashingMachine/103781/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.446952, -0.704457, -0.470511], "max": [0.478527, 0.800527, 0.437669]}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103781/grasp_poses.json b/assets/urdf/WashingMachine/103781/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f6c4d825dfd54c8da98b90f2b64f840416ee5c6
--- /dev/null
+++ b/assets/urdf/WashingMachine/103781/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "103781",
+    "scale": 1.4,
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
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+                        0.0,
+                        1.0
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+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103781/meta.json b/assets/urdf/WashingMachine/103781/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3e214fa8cd8b9067b6b88bc548302348a4041ec
--- /dev/null
+++ b/assets/urdf/WashingMachine/103781/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "WashingMachine", "model_id": "ae8441235538d4415d85df7c37878bb6", "version": "1", "anno_id": "3781", "time_in_sec": "283"}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103781/mobility.urdf b/assets/urdf/WashingMachine/103781/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9b52ac1f749e7261ae82d54d98627ba26c71d548
--- /dev/null
+++ b/assets/urdf/WashingMachine/103781/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_ae8441235538d4415d85df7c37878bb6">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
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+		</visual>
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+				<mesh filename="textured_objs/original-46.obj"/>
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+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.5514080451795014 -0.2372633664309986"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_5"/>
+		<limit lower="-0.0" upper="1.6461945504810516"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
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+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
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+		</visual>
+		<visual name="button-2">
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+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
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+		</visual>
+		<visual name="button-2">
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+		</visual>
+		<visual name="button-2">
+			<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
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+		</visual>
+		<visual name="button-2">
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+		</visual>
+		<visual name="button-2">
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+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.35976421627751065 -0.7383382735020435 0.308580049095884"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
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+			</geometry>
+		</visual>
+		<visual name="button-3">
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+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
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+		</visual>
+		<visual name="button-3">
+			<origin xyz="0.18168890876828933 -0.7382648974356245 0.3082408212312694"/>
+			<geometry>
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+		</visual>
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+		</collision>
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+			<geometry>
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+		</collision>
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+		</visual>
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+		</collision>
+		<collision>
+			<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30009959157634397 -0.7399347620417146 0.3097135984983169"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="0.30009959157634397 0.7399347620417146 -0.3097135984983169"/>
+		<axis xyz="2.2519268656708346e-05 0.3861021712159842 0.9224560221903185"/>
+		<child link="link_4"/>
+		<parent link="link_5"/>
+	</joint>
+	<link name="link_5">
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_5"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/WashingMachine/103781/mobility_v2.json b/assets/urdf/WashingMachine/103781/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..819193d6d24eac2dcf7666543d2a29c70bd2acab
--- /dev/null
+++ b/assets/urdf/WashingMachine/103781/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 5, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door", "children": []}], "jointData": {"axis": {"origin": [0, 0.5514080451795014, -0.2372633664309986], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -94.32, "noLimit": false}}}, {"id": 1, "parent": 5, "joint": "hinge", "name": "knob", "parts": [{"id": 2, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.35976421627751065, 0.7383382735020435, -0.308580049095884], "direction": [1.4077093392768743e-05, -0.3856092649989821, -0.9226621779117101]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": 5, "joint": "hinge", "name": "knob", "parts": [{"id": 3, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.18168890876828933, 0.7382648974356245, -0.3082408212312694], "direction": [3.408444117062708e-05, -0.3852795942952483, -0.9227998878727391]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": 5, "joint": "hinge", "name": "knob", "parts": [{"id": 4, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.0031372084012542944, 0.7380697179067329, -0.3089555697716622], "direction": [-2.4067030022149536e-05, 0.3861340893424736, 0.9224426618866003]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 4, "parent": 5, "joint": "hinge", "name": "knob", "parts": [{"id": 5, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.30009959157634397, 0.7399347620417146, -0.3097135984983169], "direction": [2.2519268656708346e-05, 0.3861021712159842, 0.9224560221903185]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 5, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 6, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103781/model_data.json b/assets/urdf/WashingMachine/103781/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f6d3ad4d45b1ee92ec8b7b39271f85f283e455e
--- /dev/null
+++ b/assets/urdf/WashingMachine/103781/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 1.4,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "door_handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.09442000091075897,
+                        0.9640499949455261,
+                        0.24839000403881073,
+                        -0.2889299988746643
+                    ],
+                    [
+                        0.9948499798774719,
+                        0.0821399986743927,
+                        0.059390000998973846,
+                        -0.23789000511169434
+                    ],
+                    [
+                        0.03685000166296959,
+                        0.2527100145816803,
+                        -0.9668400287628174,
+                        0.5783799886703491
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103781/result.json b/assets/urdf/WashingMachine/103781/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c66095171fa9939e7e16947ace8fc8830daa93a9
--- /dev/null
+++ b/assets/urdf/WashingMachine/103781/result.json
@@ -0,0 +1 @@
+[{"text": "WashingMachine", "name": "WashingMachine", "id": 0, "children": [{"text": "door", "name": "door", "id": 1, "objs": ["original-46"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-36", "original-35", "original-33", "original-37", "original-38", "original-34"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-30", "original-27", "original-31", "original-32", "original-29", "original-28"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-43", "original-39", "original-44", "original-41", "original-42", "original-40"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-18", "original-19", "original-17", "original-15", "original-16", "original-20"]}, {"text": "base_body", "name": "base_body", "id": 6, "objs": ["original-21", "original-52", "original-22", "original-26", "original-2", "original-9", "original-45", "original-49", "original-54", "original-51", "original-50", "original-6", "original-48", "original-23", "original-25", "original-12", "original-24", "original-47", "original-53"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103781/result_original.json b/assets/urdf/WashingMachine/103781/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..3babf835327362588e3c4994a6b4a52411813de0
--- /dev/null
+++ b/assets/urdf/WashingMachine/103781/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "WashingMachine", "text": "WashingMachine", "children": [{"id": 1, "name": "door", "text": "door", "objs": ["original-46"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-36", "original-35", "original-33", "original-37", "original-38", "original-34"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-30", "original-27", "original-31", "original-32", "original-29", "original-28"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-43", "original-39", "original-44", "original-41", "original-42", "original-40"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-18", "original-19", "original-17", "original-15", "original-16", "original-20"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/WashingMachine/103781/semantics.txt b/assets/urdf/WashingMachine/103781/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ccb9bcac98e6a960ad064f3ca0eb23b5584c2468
--- /dev/null
+++ b/assets/urdf/WashingMachine/103781/semantics.txt
@@ -0,0 +1,6 @@
+link_0 hinge door
+link_1 hinge knob
+link_2 hinge knob
+link_3 hinge knob
+link_4 hinge knob
+link_5 heavy washing_machine_body
diff --git a/assets/urdf/WashingMachine/103781/textured_objs/original-12.mtl b/assets/urdf/WashingMachine/103781/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/WashingMachine/103781/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/WashingMachine/103781/textured_objs/original-15.obj b/assets/urdf/WashingMachine/103781/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0d679c84180991d1157af91ca5beb38bde407a7
--- /dev/null
+++ b/assets/urdf/WashingMachine/103781/textured_objs/original-15.obj
@@ -0,0 +1,593 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
+o mesh2/mesh2-geometry/material_0#mesh2-geometry
+v 0.300155 0.723184 -0.367899
+v 0.298342 0.733778 -0.341954
+v 0.298342 0.722963 -0.367807
+v 0.298342 0.733778 -0.341954
+v 0.300155 0.723184 -0.367899
+v 0.300155 0.733998 -0.342046
+v 0.296652 0.733132 -0.341684
+v 0.298342 0.722963 -0.367807
+v 0.298342 0.733778 -0.341954
+v 0.301968 0.722963 -0.367807
+v 0.300155 0.733998 -0.342046
+v 0.300155 0.723184 -0.367899
+v 0.301968 0.733778 -0.341954
+v 0.298342 0.733778 -0.341954
+v 0.300155 0.733998 -0.342046
+v 0.298342 0.722963 -0.367807
+v 0.296652 0.733132 -0.341684
+v 0.296652 0.722318 -0.367537
+v 0.303658 0.733132 -0.341684
+v 0.296652 0.733132 -0.341684
+v 0.298342 0.733778 -0.341954
+v 0.300155 0.733998 -0.342046
+v 0.301968 0.722963 -0.367807
+v 0.301968 0.733778 -0.341954
+v 0.303658 0.733132 -0.341684
+v 0.298342 0.733778 -0.341954
+v 0.301968 0.733778 -0.341954
+v 0.295201 0.732105 -0.341254
+v 0.296652 0.722318 -0.367537
+v 0.296652 0.733132 -0.341684
+v 0.305109 0.732105 -0.341254
+v 0.296652 0.733132 -0.341684
+v 0.303658 0.733132 -0.341684
+v 0.303658 0.722318 -0.367537
+v 0.301968 0.733778 -0.341954
+v 0.301968 0.722963 -0.367807
+v 0.301968 0.733778 -0.341954
+v 0.303658 0.722318 -0.367537
+v 0.303658 0.733132 -0.341684
+v 0.296652 0.722318 -0.367537
+v 0.295201 0.732105 -0.341254
+v 0.295201 0.721291 -0.367107
+v 0.305109 0.732105 -0.341254
+v 0.295201 0.732105 -0.341254
+v 0.296652 0.733132 -0.341684
+v 0.303658 0.733132 -0.341684
+v 0.305109 0.721291 -0.367107
+v 0.305109 0.732105 -0.341254
+v 0.305109 0.721291 -0.367107
+v 0.303658 0.733132 -0.341684
+v 0.303658 0.722318 -0.367537
+v 0.295201 0.732105 -0.341254
+v 0.294088 0.719952 -0.366547
+v 0.295201 0.721291 -0.367107
+v 0.306222 0.730766 -0.340694
+v 0.295201 0.732105 -0.341254
+v 0.305109 0.732105 -0.341254
+v 0.305109 0.721291 -0.367107
+v 0.306222 0.730766 -0.340694
+v 0.305109 0.732105 -0.341254
+v 0.294088 0.719952 -0.366547
+v 0.295201 0.732105 -0.341254
+v 0.294088 0.730766 -0.340694
+v 0.306222 0.730766 -0.340694
+v 0.294088 0.730766 -0.340694
+v 0.295201 0.732105 -0.341254
+v 0.306222 0.730766 -0.340694
+v 0.305109 0.721291 -0.367107
+v 0.306222 0.719952 -0.366547
+v 0.294088 0.730766 -0.340694
+v 0.293388 0.718393 -0.365895
+v 0.294088 0.719952 -0.366547
+v 0.306922 0.729208 -0.340042
+v 0.294088 0.730766 -0.340694
+v 0.306222 0.730766 -0.340694
+v 0.306222 0.719952 -0.366547
+v 0.306922 0.729208 -0.340042
+v 0.306222 0.730766 -0.340694
+v 0.306922 0.729208 -0.340042
+v 0.306222 0.719952 -0.366547
+v 0.306922 0.718393 -0.365895
+v 0.293388 0.718393 -0.365895
+v 0.294088 0.730766 -0.340694
+v 0.293388 0.729208 -0.340042
+v 0.306922 0.729208 -0.340042
+v 0.293388 0.729208 -0.340042
+v 0.294088 0.730766 -0.340694
+v 0.293388 0.729208 -0.340042
+v 0.293149 0.716720 -0.365195
+v 0.293388 0.718393 -0.365895
+v 0.307161 0.727535 -0.339342
+v 0.306922 0.718393 -0.365895
+v 0.307161 0.716720 -0.365195
+v 0.306922 0.718393 -0.365895
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diff --git a/assets/urdf/WashingMachine/103781/textured_objs/original-18.obj b/assets/urdf/WashingMachine/103781/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..059614fa04f9b712b65d321d92cfee80068495b5
--- /dev/null
+++ b/assets/urdf/WashingMachine/103781/textured_objs/original-18.obj
@@ -0,0 +1,2947 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/assets/urdf/WashingMachine/103781/textured_objs/original-54.mtl b/assets/urdf/WashingMachine/103781/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..431d32799e45463975ec1dee0e1f48bf3abe8203
--- /dev/null
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