diff --git a/assets/urdf/Bottle/3517/bounding_box.json b/assets/urdf/Bottle/3517/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..444ab93795008fbf290a59f6bc898093af059a12
--- /dev/null
+++ b/assets/urdf/Bottle/3517/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.449688, -0.690761, -0.303824], "max": [0.444559, 0.994552, 0.31527]}
\ No newline at end of file
diff --git a/assets/urdf/Bottle/3517/grasp_poses.json b/assets/urdf/Bottle/3517/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..92c4f35c67bf7d2f9f457ede7754ef17b1059776
--- /dev/null
+++ b/assets/urdf/Bottle/3517/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+    "object_name": "3517",
+    "scale": 0.1,
+    "grasp_parts": {
+        "cap": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -1.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        0.800000011920929
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08715999871492386,
+                        0.0,
+                        0.9961900115013123,
+                        -0.09961999952793121
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.008709999732673168
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Bottle/3517/meta.json b/assets/urdf/Bottle/3517/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e2dd7b4b2b0c0a1f4c1a174bee8666798fb7bca
--- /dev/null
+++ b/assets/urdf/Bottle/3517/meta.json
@@ -0,0 +1 @@
+{"model_id":"917fd3e68de79bf69ece21a0b0786a69","anno_id":"3517","user_id":"zhouwenxian","time_in_sec":"240","version":"3","model_cat":"Bottle","original_model_cat":"Bottle"}
\ No newline at end of file
diff --git a/assets/urdf/Bottle/3517/mobility.urdf b/assets/urdf/Bottle/3517/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..22959137432e0c3ca2293b03387123b3c62a4f9c
--- /dev/null
+++ b/assets/urdf/Bottle/3517/mobility.urdf
@@ -0,0 +1,75 @@
+<?xml version="1.0" ?>
+<robot name="partnet_917fd3e68de79bf69ece21a0b0786a69">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-8">
+			<origin xyz="0.002564500000000001 0 -0.00572319807062216"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.002564500000000001 0 -0.00572319807062216"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.002564500000000001 0 0.00572319807062216"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="-0.016000000000000014" upper="0"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Bottle/3517/mobility_v2.json b/assets/urdf/Bottle/3517/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..56d994c677ea0a555826a36b1cd790eaf38ef2c4
--- /dev/null
+++ b/assets/urdf/Bottle/3517/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":8,"name":"lid","children":[]}],"jointData":{"axis":{"origin":[-0.002564500000000001,0,0.00572319807062216],"direction":[0,1,0]},"limit":{"a":-0.016000000000000014,"b":0,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":1,"parent":-1,"joint":"free","name":"body","parts":[{"id":6,"name":"body","children":[]},{"id":7,"name":"neck","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Bottle/3517/model_data.json b/assets/urdf/Bottle/3517/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..6466473f18b6ede42971d15fd66bdd745fafb74f
--- /dev/null
+++ b/assets/urdf/Bottle/3517/model_data.json
@@ -0,0 +1,98 @@
+{
+    "scale": 0.1,
+    "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": {
+        "cap": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -1.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        0.800000011920929
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08715999871492386,
+                        0.0,
+                        0.9961900115013123,
+                        -0.09961999952793121
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.0
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.008709999732673168
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Bottle/3517/result.json b/assets/urdf/Bottle/3517/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..207950c255c9c2efce0cbd502d483757ca11239c
--- /dev/null
+++ b/assets/urdf/Bottle/3517/result.json
@@ -0,0 +1 @@
+[{"text": "Bottle", "children": [{"text": "Normal Bottle", "children": [{"text": "Body", "objs": ["new-19"], "id": 6, "name": "body"}, {"text": "Neck", "objs": ["new-13", "new-14"], "id": 7, "name": "neck"}, {"text": "Lid", "objs": ["original-1"], "id": 8, "name": "lid"}], "id": 1, "name": "normal_bottle"}], "id": 0, "name": "bottle"}]
\ No newline at end of file
diff --git a/assets/urdf/Bottle/3517/result_after_merging.json b/assets/urdf/Bottle/3517/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..351d1d7f35c635611d770d4a75fc50dc5b92737b
--- /dev/null
+++ b/assets/urdf/Bottle/3517/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "bottle", "ori_id": 0, "text": "bottle", "children": [{"name": "normal_bottle", "ori_id": 1, "text": "normal_bottle", "children": [{"objs": ["new-19"], "name": "body", "id": 2, "ori_id": 6, "text": "body"}, {"objs": ["new-13", "new-14"], "name": "neck", "id": 3, "ori_id": 7, "text": "neck"}, {"objs": ["original-1"], "name": "lid", "id": 4, "ori_id": 8, "text": "lid"}], "id": 1, "objs": ["new-19", "new-13", "new-14", "original-1"]}], "id": 0, "objs": ["new-19", "new-13", "new-14", "original-1"]}]
\ No newline at end of file
diff --git a/assets/urdf/Bottle/3517/semantics.txt b/assets/urdf/Bottle/3517/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..699a99749dcced963f57a004018c005e623c99a8
--- /dev/null
+++ b/assets/urdf/Bottle/3517/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider+ rotation_lid
+link_1 free bottle_body
diff --git a/assets/urdf/Bottle/3517/tree_hier.html b/assets/urdf/Bottle/3517/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..af9b5a2002312ba0f25c7e15aa6b895a048f25ac
--- /dev/null
+++ b/assets/urdf/Bottle/3517/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle Bottle</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle Normal Bottle</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>6 body Body</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 neck Neck</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 lid Lid</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/assets/urdf/Bottle/3517/tree_hier_after_merging.html b/assets/urdf/Bottle/3517/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..aaeb1bb60cad799261049c5a07aec64b6142e32b
--- /dev/null
+++ b/assets/urdf/Bottle/3517/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle bottle</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle normal_bottle</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 body body</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 neck neck</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 lid lid</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Bottle/3519/parts_render/0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/assets/urdf/Bottle/3558/bounding_box.json b/assets/urdf/Bottle/3558/bounding_box.json
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Bottle/3558/bounding_box.json
@@ -0,0 +1 @@
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diff --git a/assets/urdf/Bottle/3558/grasp_poses.json b/assets/urdf/Bottle/3558/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..80cf3ac20c37b2333dd6e5024c5866bcc4a54088
--- /dev/null
+++ b/assets/urdf/Bottle/3558/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+    "object_name": "3558",
+    "scale": 0.15,
+    "grasp_parts": {
+        "cap": [
+            {
+                "id": 0,
+                "matrix": [
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+                "base": "base",
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+                "matrix": [
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+                        1.0,
+                        -0.0666700005531311
+                    ],
+                    [
+                        -0.0,
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+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -1.0,
+                        -0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Bottle/3558/meta.json b/assets/urdf/Bottle/3558/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..531779779690117f23337de8f62a87740e8f50cd
--- /dev/null
+++ b/assets/urdf/Bottle/3558/meta.json
@@ -0,0 +1 @@
+{"model_id": "158634b1d7d010eeebe67d9b32c3ddf8", "anno_id": "3558", "user_id": "zhouwenxian", "time_in_sec": "170", "version": "3", "model_cat": "Bottle"}
\ No newline at end of file
diff --git a/assets/urdf/Bottle/3558/mobility.urdf b/assets/urdf/Bottle/3558/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..be5588c4a70562835eb4fba9a31c10f7926e590f
--- /dev/null
+++ b/assets/urdf/Bottle/3558/mobility.urdf
@@ -0,0 +1,75 @@
+<?xml version="1.0" ?>
+<robot name="partnet_158634b1d7d010eeebe67d9b32c3ddf8">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-13">
+			<origin xyz="-0.0034696680649939065 0 -0.005978668064993904"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0034696680649939065 0 -0.005978668064993904"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.0034696680649939065 0 0.005978668064993904"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="-0.1080000000000001" upper="0"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Bottle/3558/mobility_v2.json b/assets/urdf/Bottle/3558/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea92f76f937dd269ae88049cc89386aea35847b2
--- /dev/null
+++ b/assets/urdf/Bottle/3558/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":13,"name":"lid","children":[]}],"jointData":{"axis":{"origin":[0.0034696680649939065,0,0.005978668064993904],"direction":[0,1,0]},"limit":{"a":-0.1080000000000001,"b":0,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":1,"parent":-1,"joint":"free","name":"body","parts":[{"id":11,"name":"body","children":[]},{"id":12,"name":"neck","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Bottle/3558/model_data.json b/assets/urdf/Bottle/3558/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..74c28c8fda1e21fa806a71ad3bf018091ee72461
--- /dev/null
+++ b/assets/urdf/Bottle/3558/model_data.json
@@ -0,0 +1,98 @@
+{
+    "scale": 0.15,
+    "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": {
+        "cap": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        0.8666700124740601
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        0.0,
+                        1.0,
+                        -0.0666700005531311
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        -0.0,
+                        0.0
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+                    [
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+                        0.0
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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/Bottle/3558/result.json b/assets/urdf/Bottle/3558/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe31199c1f1b575d0a3aaac1b6c6a1b9fb9c76ea
--- /dev/null
+++ b/assets/urdf/Bottle/3558/result.json
@@ -0,0 +1 @@
+[{"text": "Bottle", "children": [{"text": "Normal Bottle", "children": [{"text": "Body", "objs": ["new-3"], "id": 11, "name": "body"}, {"text": "Neck", "objs": ["new-1", "new-2"], "id": 12, "name": "neck"}, {"text": "Lid", "objs": ["original-2"], "id": 13, "name": "lid"}], "id": 1, "name": "normal_bottle"}], "id": 0, "name": "bottle"}]
\ No newline at end of file
diff --git a/assets/urdf/Bottle/3558/result_after_merging.json b/assets/urdf/Bottle/3558/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..b70067488f724183785f32ede74ba661ea9a51d4
--- /dev/null
+++ b/assets/urdf/Bottle/3558/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["new-3", "new-1", "new-2", "original-2"], "text": "bottle", "id": 0, "name": "bottle", "children": [{"objs": ["new-3", "new-1", "new-2", "original-2"], "text": "normal_bottle", "id": 1, "name": "normal_bottle", "children": [{"objs": ["new-3"], "name": "body", "id": 2, "ori_id": 11, "text": "body"}, {"objs": ["new-1", "new-2"], "name": "neck", "id": 3, "ori_id": 12, "text": "neck"}, {"objs": ["original-2"], "name": "lid", "id": 4, "ori_id": 13, "text": "lid"}], "ori_id": 1}], "ori_id": 0}]
\ No newline at end of file
diff --git a/assets/urdf/Bottle/3558/semantics.txt b/assets/urdf/Bottle/3558/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..699a99749dcced963f57a004018c005e623c99a8
--- /dev/null
+++ b/assets/urdf/Bottle/3558/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider+ rotation_lid
+link_1 free bottle_body
diff --git a/assets/urdf/Bottle/3558/tree_hier.html b/assets/urdf/Bottle/3558/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..eb22c419b39004cea4d20bcdf3308c6e58ee3326
--- /dev/null
+++ b/assets/urdf/Bottle/3558/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle Bottle</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle Normal Bottle</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>11 body Body</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 neck Neck</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 lid Lid</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
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--- /dev/null
+++ b/assets/urdf/Bottle/3558/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle bottle</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle normal_bottle</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 body body</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 neck neck</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 lid lid</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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+<?xml version="1.0" ?>
+<robot name="partnet_2cc108080535bc51e7a14f6d159dcd47">
+	<link name="base"/>
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+		<visual name="lid-8">
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+			<geometry>
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+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
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+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
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+		<axis xyz="-9.998538438076892e-06 0.9980590834615828 0.06227411837878444"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.008000000000000007" upper="0.22799999999999998"/>
+	</joint>
+	<link name="link_1">
+		<visual name="body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Bottle/3625/mobility_v2.json b/assets/urdf/Bottle/3625/mobility_v2.json
new file mode 100644
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--- /dev/null
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--- /dev/null
+++ b/assets/urdf/Bottle/3625/model_data.json
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+}
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index 0000000000000000000000000000000000000000..5107fdceaa0d852fb43f8155d3fcee15afff92a1
--- /dev/null
+++ b/assets/urdf/Bottle/3625/result.json
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+[{"text": "Bottle", "children": [{"text": "Normal Bottle", "children": [{"text": "Body", "objs": ["new-1"], "id": 6, "name": "body"}, {"text": "Neck", "objs": ["new-0"], "id": 7, "name": "neck"}, {"text": "Lid", "objs": ["original-17"], "id": 8, "name": "lid"}], "id": 1, "name": "normal_bottle"}], "id": 0, "name": "bottle"}]
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--- /dev/null
+++ b/assets/urdf/Bottle/3625/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider translation_lid
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diff --git a/assets/urdf/Bottle/3625/tree_hier.html b/assets/urdf/Bottle/3625/tree_hier.html
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--- /dev/null
+++ b/assets/urdf/Bottle/3625/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
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--- /dev/null
+++ b/assets/urdf/Bottle/3625/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
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+{"min": [-0.603228, -0.705604, -0.593261], "max": [0.581115, 0.993976, 0.591082]}
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new file mode 100644
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--- /dev/null
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+link_0 slider translation_lid
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--- /dev/null
+++ b/assets/urdf/Bottle/3944/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
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+{
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+++ b/assets/urdf/Bottle/4064/result.json
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+++ b/assets/urdf/Bottle/4064/tree_hier_after_merging.html
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diff --git a/assets/urdf/Bottle/4233/point_sample/sample-points-all-label-10000.txt b/assets/urdf/Bottle/4233/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..714184f4cee57f88c9ae4a52d675d1f6f606237b
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index 0000000000000000000000000000000000000000..11a065d48cd72a5ab2f1477050673637c3c25b7e
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diff --git a/assets/urdf/Bottle/4233/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/assets/urdf/Bottle/4233/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c9a02cf840bf732ac9c8b2227e8893a84d122ca4
--- /dev/null
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diff --git a/assets/urdf/Bottle/4233/textured_objs/original-1.obj b/assets/urdf/Bottle/4233/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da246a7a02049583e3283f6734623fec04758cdf
--- /dev/null
+++ b/assets/urdf/Bottle/4233/textured_objs/original-1.obj
@@ -0,0 +1,1563 @@
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diff --git a/assets/urdf/Bottle/4233/textured_objs/original-3.mtl b/assets/urdf/Bottle/4233/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Bottle/4233/textured_objs/original-3.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/Bottle/4233/textured_objs/original-3.obj b/assets/urdf/Bottle/4233/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..803ec18040ebe64bb5c95fc4fabb2069e24c4da4
--- /dev/null
+++ b/assets/urdf/Bottle/4233/textured_objs/original-3.obj
@@ -0,0 +1,7445 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/assets/urdf/Bottle/4233/textured_objs/original-4.mtl b/assets/urdf/Bottle/4233/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Bottle/4233/textured_objs/original-4.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/Bottle/4233/textured_objs/original-4.obj b/assets/urdf/Bottle/4233/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ca4a592b08c09de7e9fd6bee4c4578ec4527e8d
--- /dev/null
+++ b/assets/urdf/Bottle/4233/textured_objs/original-4.obj
@@ -0,0 +1,5081 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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+version https://git-lfs.github.com/spec/v1
+oid sha256:dca5bc6670dc1c10ca343d797c29846addb916b7b83aafc60200bbb0c47de16d
+size 19872
diff --git a/assets/urdf/Bottle/4403/parts_render_after_merging/3.png b/assets/urdf/Bottle/4403/parts_render_after_merging/3.png
new file mode 100644
index 0000000000000000000000000000000000000000..0140d155a91fea2b0453d5ea57db32d737a6addf
--- /dev/null
+++ b/assets/urdf/Bottle/4403/parts_render_after_merging/3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9b7d5c3bdbac4cd46496655015bd8eaf28f034b5605c62e0d2d49fc9c3a15ba
+size 26016
diff --git a/assets/urdf/Bottle/5688/bounding_box.json b/assets/urdf/Bottle/5688/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..44b124b0cca103f6d4067e3357554cabca13e581
--- /dev/null
+++ b/assets/urdf/Bottle/5688/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.473223, -0.925872, -0.457461], "max": [0.445074, 0.834197, 0.460836]}
\ No newline at end of file
diff --git a/assets/urdf/Bottle/5688/grasp_poses.json b/assets/urdf/Bottle/5688/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..e366175461a96de0bf19c4600185f98e3c8ad43d
--- /dev/null
+++ b/assets/urdf/Bottle/5688/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+    "object_name": "5688",
+    "scale": 0.08,
+    "grasp_parts": {
+        "cap": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -1.0,
+                        -0.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        -0.0,
+                        0.0,
+                        -1.0,
+                        0.875
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.0,
+                        -0.2588199973106384,
+                        0.9659299850463867,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.9659299850463867,
+                        0.2588199973106384,
+                        -0.0
+                    ],
+                    [
+                        -1.0,
+                        -0.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Bottle/5688/meta.json b/assets/urdf/Bottle/5688/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..216cb34b42abbeea7665b9defc33b4f11a6d675c
--- /dev/null
+++ b/assets/urdf/Bottle/5688/meta.json
@@ -0,0 +1 @@
+{"model_id":"5543edf23df6527530612f5c0ef21eb8","anno_id":"5688","user_id":"huangfuchong","time_in_sec":"116","version":"3","model_cat":"Bottle","original_model_cat":"Vase"}
\ No newline at end of file
diff --git a/assets/urdf/Bottle/5688/mobility.urdf b/assets/urdf/Bottle/5688/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b43dacd5504e2c1bf90b6e0736104f8a26bd350c
--- /dev/null
+++ b/assets/urdf/Bottle/5688/mobility.urdf
@@ -0,0 +1,63 @@
+<?xml version="1.0" ?>
+<robot name="partnet_5543edf23df6527530612f5c0ef21eb8">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-7">
+			<origin xyz="0.013345022844728632 0 -0.0010034761906297807"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.013345022844728632 0 -0.0010034761906297807"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="container-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.013345022844728632 0 0.0010034761906297807"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="-0.1479999999999999" upper="-0.016000000000000014"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Bottle/5688/mobility_v2.json b/assets/urdf/Bottle/5688/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..95493c8a518afe308d4a5a858dd3fc613ff16312
--- /dev/null
+++ b/assets/urdf/Bottle/5688/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":7,"name":"lid","children":[]}],"jointData":{"axis":{"origin":[-0.013345022844728632,0,0.0010034761906297807],"direction":[0,1,0]},"limit":{"a":-0.1479999999999999,"b":-0.016000000000000014,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":1,"parent":-1,"joint":"free","name":"container","parts":[{"id":8,"name":"container","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Bottle/5688/model_data.json b/assets/urdf/Bottle/5688/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c0e6a9f18b31134bf4bc563277682ac95accf41
--- /dev/null
+++ b/assets/urdf/Bottle/5688/model_data.json
@@ -0,0 +1,98 @@
+{
+    "scale": 0.08,
+    "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": {
+        "cap": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -1.0,
+                        -0.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        -0.0,
+                        0.0,
+                        -1.0,
+                        0.875
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.0,
+                        -0.2588199973106384,
+                        0.9659299850463867,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.9659299850463867,
+                        0.2588199973106384,
+                        -0.0
+                    ],
+                    [
+                        -1.0,
+                        -0.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Bottle/5688/result.json b/assets/urdf/Bottle/5688/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c55dd425fa20c2d7c152bfc7f20cce1a9e9dfe1c
--- /dev/null
+++ b/assets/urdf/Bottle/5688/result.json
@@ -0,0 +1 @@
+[{"text": "Pot", "children": [{"text": "Pot Body", "children": [{"text": "Lid", "objs": ["original-1"], "id": 7, "name": "lid"}, {"text": "Container", "objs": ["new-1", "new-0"], "id": 8, "name": "container"}], "id": 3, "name": "body"}], "id": 0, "name": "pot"}]
\ No newline at end of file
diff --git a/assets/urdf/Bottle/5688/result_after_merging.json b/assets/urdf/Bottle/5688/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..39ac933437d520af8c04f2ec3db2a74fd535e2cf
--- /dev/null
+++ b/assets/urdf/Bottle/5688/result_after_merging.json
@@ -0,0 +1 @@
+[{"id": 0, "objs": ["original-1", "new-1", "new-0"], "name": "pot", "children": [{"id": 1, "objs": ["original-1", "new-1", "new-0"], "name": "body", "children": [{"text": "lid", "ori_id": 7, "name": "lid", "objs": ["original-1"], "id": 2}, {"text": "container", "ori_id": 8, "name": "container", "objs": ["new-1", "new-0"], "id": 3}], "text": "body", "ori_id": 3}], "text": "pot", "ori_id": 0}]
\ No newline at end of file
diff --git a/assets/urdf/Bottle/5688/semantics.txt b/assets/urdf/Bottle/5688/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..699a99749dcced963f57a004018c005e623c99a8
--- /dev/null
+++ b/assets/urdf/Bottle/5688/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider+ rotation_lid
+link_1 free bottle_body
diff --git a/assets/urdf/Bottle/5688/tree_hier.html b/assets/urdf/Bottle/5688/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..9acd46020217da93e530589b2b44d6089b0073d6
--- /dev/null
+++ b/assets/urdf/Bottle/5688/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 pot Pot</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 body Pot Body</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td></tr><tr><td><p>7 lid Lid</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 container Container</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/assets/urdf/Bottle/5688/tree_hier_after_merging.html b/assets/urdf/Bottle/5688/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..ce5b0e10810219a165616869890ea310b3f0ca5c
--- /dev/null
+++ b/assets/urdf/Bottle/5688/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 pot pot</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 body body</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 lid lid</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 container container</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/assets/urdf/Bottle/6037/bounding_box.json b/assets/urdf/Bottle/6037/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..22bfaee403d483bb9f8e6ec23fd300e708078560
--- /dev/null
+++ b/assets/urdf/Bottle/6037/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.792395, -0.616539, -0.748492], "max": [0.738389, 0.572666, 0.782292]}
\ No newline at end of file
diff --git a/assets/urdf/Bottle/6037/grasp_poses.json b/assets/urdf/Bottle/6037/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..289ba9bdb8d23cc202f530125888e0684b57b667
--- /dev/null
+++ b/assets/urdf/Bottle/6037/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+    "object_name": "6037",
+    "scale": 0.05,
+    "grasp_parts": {
+        "cap": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -1.0,
+                        -0.0,
+                        0.0,
+                        -0.4000000059604645
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        -0.0,
+                        0.0,
+                        -1.0,
+                        -0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08715000003576279,
+                        0.0,
+                        -0.9961900115013123,
+                        0.34404999017715454
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.20000000298023224
+                    ],
+                    [
+                        0.9961900115013123,
+                        0.0,
+                        0.08715000003576279,
+                        -0.4133700132369995
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Bottle/6037/meta.json b/assets/urdf/Bottle/6037/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1cdfff674840fd7e1a443da4d414322bae9ee94
--- /dev/null
+++ b/assets/urdf/Bottle/6037/meta.json
@@ -0,0 +1 @@
+{"model_id":"9eb7d0643394a33df633d7643fec578c","anno_id":"6037","user_id":"zhouwenxian","time_in_sec":"43","version":"2","model_cat":"Bottle","original_model_cat":"Vase"}
\ No newline at end of file
diff --git a/assets/urdf/Bottle/6037/mobility.urdf b/assets/urdf/Bottle/6037/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..76805e57e02234119c94ca5b444979b63066f9d8
--- /dev/null
+++ b/assets/urdf/Bottle/6037/mobility.urdf
@@ -0,0 +1,51 @@
+<?xml version="1.0" ?>
+<robot name="partnet_9eb7d0643394a33df633d7643fec578c">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-2">
+			<origin xyz="0.027199263924241067 0 -0.01660128241181376"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.027199263924241067 0 -0.01660128241181376"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="container-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.027199263924241067 0 0.01660128241181376"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="-0.016000000000000014" upper="0.07200000000000006"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Bottle/6037/mobility_v2.json b/assets/urdf/Bottle/6037/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..51d3ed025b1091e1f4b79f19c5dba11c768c92a5
--- /dev/null
+++ b/assets/urdf/Bottle/6037/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":2,"name":"lid","children":[]}],"jointData":{"axis":{"origin":[-0.027199263924241067,0,0.01660128241181376],"direction":[0,1,0]},"limit":{"a":-0.016000000000000014,"b":0.07200000000000006,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":1,"parent":-1,"joint":"free","name":"container","parts":[{"id":3,"name":"container","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Bottle/6037/model_data.json b/assets/urdf/Bottle/6037/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fec321db19fe8f964289ca95ae41269430b3d08
--- /dev/null
+++ b/assets/urdf/Bottle/6037/model_data.json
@@ -0,0 +1,98 @@
+{
+    "scale": 0.05,
+    "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": {
+        "cap": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -1.0,
+                        -0.0,
+                        0.0,
+                        -0.4000000059604645
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.0
+                    ],
+                    [
+                        -0.0,
+                        0.0,
+                        -1.0,
+                        -0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "body": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08715000003576279,
+                        0.0,
+                        -0.9961900115013123,
+                        0.34404999017715454
+                    ],
+                    [
+                        -0.0,
+                        1.0,
+                        0.0,
+                        0.20000000298023224
+                    ],
+                    [
+                        0.9961900115013123,
+                        0.0,
+                        0.08715000003576279,
+                        -0.4133700132369995
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Bottle/6037/result.json b/assets/urdf/Bottle/6037/result.json
new file mode 100644
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+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
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index 0000000000000000000000000000000000000000..424421d129f2206be315435509edfdc5daafda19
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diff --git a/assets/urdf/Bottle/6263/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/assets/urdf/Bottle/6263/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1563b30f50836311b685f1f605cb76b9dcbe229f
--- /dev/null
+++ b/assets/urdf/Bottle/6263/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/assets/urdf/Bottle/6493/textured_objs/original-2.obj b/assets/urdf/Bottle/6493/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab3c4684a6e183c7a067c25e1bf11a391e97eb5
--- /dev/null
+++ b/assets/urdf/Bottle/6493/textured_objs/original-2.obj
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