diff --git a/assets/urdf/Stapler/102990/bounding_box.json b/assets/urdf/Stapler/102990/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..7060b25c3f5e9c0c68fbf2d11e48c14a8808724b
--- /dev/null
+++ b/assets/urdf/Stapler/102990/bounding_box.json
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/102990/grasp_poses.json b/assets/urdf/Stapler/102990/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..14191407fdd3f46ac2943a4af332e6f45ef1438b
--- /dev/null
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diff --git a/assets/urdf/Stapler/102990/meta.json b/assets/urdf/Stapler/102990/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4455aa3ae60bbe6e3ceb0d3f84a5e64aa99ac574
--- /dev/null
+++ b/assets/urdf/Stapler/102990/meta.json
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/102990/mobility.urdf b/assets/urdf/Stapler/102990/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3b4e0b85e832f662697aac00f1f2885ec28223dc
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diff --git a/assets/urdf/Stapler/102990/mobility_v2.json b/assets/urdf/Stapler/102990/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e300da08c6bba4e9ad5616788d0ed0477551f059
--- /dev/null
+++ b/assets/urdf/Stapler/102990/mobility_v2.json
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/102990/model_data.json b/assets/urdf/Stapler/102990/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c5de5e2c32a5fe28be1e130eff9d15b0a04383
--- /dev/null
+++ b/assets/urdf/Stapler/102990/model_data.json
@@ -0,0 +1,98 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/102990/result.json b/assets/urdf/Stapler/102990/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..46ef2bbe0b5bab19e2eb774d5e0742eec199ef87
--- /dev/null
+++ b/assets/urdf/Stapler/102990/result.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/102990/result_original.json b/assets/urdf/Stapler/102990/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..eceb05d2352054278a8303ab104656a39b0ad168
--- /dev/null
+++ b/assets/urdf/Stapler/102990/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-20", "original-32", "original-41", "original-57", "original-51", "original-48", "original-47", "original-53", "original-44", "original-43", "original-45", "original-40", "original-38", "original-39", "original-37", "original-36", "original-42", "original-46", "original-35", "original-34", "original-33", "original-24", "original-58", "original-56", "original-55", "original-54", "original-52", "original-50", "original-49", "original-27", "original-28", "original-29", "original-31", "original-30", "original-25", "original-26", "original-22"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-4", "original-1", "original-21"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/102990/semantics.txt b/assets/urdf/Stapler/102990/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/102990/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
+link_1 hinge lid
+link_2 free stapler_base
diff --git a/assets/urdf/Stapler/103095/bounding_box.json b/assets/urdf/Stapler/103095/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b40a3a516186a82c8f66cba4b302f465fb366a7
--- /dev/null
+++ b/assets/urdf/Stapler/103095/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.303673, -0.226098, -0.940334], "max": [0.304585, 0.362701, 0.971887]}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103095/meta.json b/assets/urdf/Stapler/103095/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..edf450f9a55f1457f6473bcb39d0d4d3eb21862b
--- /dev/null
+++ b/assets/urdf/Stapler/103095/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Stapler", "model_id": "376eb047b40ef4f6a480e3d8fdbd4a92", "version": "1", "anno_id": "3095", "time_in_sec": "124"}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103095/mobility.urdf b/assets/urdf/Stapler/103095/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..33095e3608298dd4a95806f149b42d25e7a4662c
--- /dev/null
+++ b/assets/urdf/Stapler/103095/mobility.urdf
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diff --git a/assets/urdf/Stapler/103095/result_original.json b/assets/urdf/Stapler/103095/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8b530fe67ecfcd08bde77511d95c4061960a764
--- /dev/null
+++ b/assets/urdf/Stapler/103095/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-2"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-4", "original-11", "original-6", "original-5"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103099/bounding_box.json b/assets/urdf/Stapler/103099/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4b89d9ddc6940bb193b5888ebf1e38c75d40239
--- /dev/null
+++ b/assets/urdf/Stapler/103099/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.16878, -0.297769, -0.753372], "max": [0.16497, 0.527186, 0.984285]}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103099/grasp_poses.json b/assets/urdf/Stapler/103099/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..9029f0022fe9caab04d5ab044c603ccdee090279
--- /dev/null
+++ b/assets/urdf/Stapler/103099/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+ "object_name": "103099",
+ "scale": 0.09,
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+ "matrix": [
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103099/meta.json b/assets/urdf/Stapler/103099/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad2379dad275b5a716f488fc8aecf47150a20f62
--- /dev/null
+++ b/assets/urdf/Stapler/103099/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Stapler", "model_id": "37b40b7e9290c0a330314ffb9bb887b5", "version": "1", "anno_id": "3099", "time_in_sec": "94"}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103099/mobility.urdf b/assets/urdf/Stapler/103099/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a085486df7b3f62d5e6dcc84ba281e5f1087c805
--- /dev/null
+++ b/assets/urdf/Stapler/103099/mobility.urdf
@@ -0,0 +1,689 @@
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diff --git a/assets/urdf/Stapler/103099/mobility_v2.json b/assets/urdf/Stapler/103099/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9e1859f459d925c5d01f27ebe0ed48f0c7f7688
--- /dev/null
+++ b/assets/urdf/Stapler/103099/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "body", "parts": [{"id": 1, "name": "body", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.09282884922449189, -0.6653006196810763], "direction": [-1.0, 0.0, 0.0]}, "limit": {"a": 10.08, "b": -147.60000000000002, "noLimit": false}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "lid", "parts": [{"id": 2, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.09282884922449189, -0.6653006196810763], "direction": [-1.0, 0.0, 0.0]}, "limit": {"a": -18.360000000000014, "b": 99.36000000000001, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103099/model_data.json b/assets/urdf/Stapler/103099/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..efc43bf16bc533e84a5b604ae9f845745d509aa4
--- /dev/null
+++ b/assets/urdf/Stapler/103099/model_data.json
@@ -0,0 +1,98 @@
+{
+ "scale": 0.09,
+ "transform_matrix": [
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103099/result.json b/assets/urdf/Stapler/103099/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..19d6961c86b2cf26eb420bb4de61e0390069506e
--- /dev/null
+++ b/assets/urdf/Stapler/103099/result.json
@@ -0,0 +1 @@
+[{"text": "Stapler", "name": "Stapler", "id": 0, "children": [{"text": "body", "name": "body", "id": 1, "objs": ["original-55", "original-10", "original-52", "original-16", "original-35", "original-5", "original-26", "original-28", "original-53", "original-42", "original-25", "original-23", "original-22", "original-15", "original-4", "original-34", "original-20", "original-50", "original-7", "original-29", "original-30", "original-9", "original-14", "original-8", "original-13", "original-12", "original-11", "original-36", "original-54", "original-51", "original-49", "original-48", "original-32", "original-27", "original-24", "original-21", "original-19", "original-17", "original-6", "original-39", "original-31", "original-40", "original-41", "original-33", "original-46", "original-47", "original-37", "original-38", "original-43", "original-44", "original-18", "original-45"]}, {"text": "lid", "name": "lid", "id": 2, "objs": ["original-56"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-1", "original-57"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103099/result_original.json b/assets/urdf/Stapler/103099/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c20d24c3c7c6f9fcc95f5782474b36a7081cc2c
--- /dev/null
+++ b/assets/urdf/Stapler/103099/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-55", "original-10", "original-52", "original-16", "original-35", "original-5", "original-26", "original-28", "original-53", "original-42", "original-25", "original-23", "original-22", "original-15", "original-4", "original-34", "original-20", "original-50", "original-7", "original-29", "original-30", "original-9", "original-14", "original-8", "original-13", "original-12", "original-11", "original-36", "original-54", "original-51", "original-49", "original-48", "original-32", "original-27", "original-24", "original-21", "original-19", "original-17", "original-6", "original-39", "original-31", "original-40", "original-41", "original-33", "original-46", "original-47", "original-37", "original-38", "original-43", "original-44", "original-18", "original-45"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-56"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103099/semantics.txt b/assets/urdf/Stapler/103099/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/103099/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
+link_1 hinge lid
+link_2 free stapler_base
diff --git a/assets/urdf/Stapler/103100/bounding_box.json b/assets/urdf/Stapler/103100/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..7280b8bfaf9da42d2364a499a06cd544a5c66e31
--- /dev/null
+++ b/assets/urdf/Stapler/103100/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.216621, -0.280723, -0.92484], "max": [0.215314, 0.456786, 0.951466]}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103100/grasp_poses.json b/assets/urdf/Stapler/103100/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..3142ebbec06735bc0757b7de4cfae866a2166c7e
--- /dev/null
+++ b/assets/urdf/Stapler/103100/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+ "object_name": "103100",
+ "scale": 0.09,
+ "grasp_parts": {
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+ "matrix": [
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+ "base": "base",
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+ }
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+ "body": [
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+ "matrix": [
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+ "base": "base",
+ "description": ""
+ }
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+}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103100/meta.json b/assets/urdf/Stapler/103100/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2047f59ab9923bdd0f130bdda70341e1063e3f0a
--- /dev/null
+++ b/assets/urdf/Stapler/103100/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Stapler", "model_id": "3800d2ab6bc278bcd5a3e6010c55b78e", "version": "1", "anno_id": "3100", "time_in_sec": "30"}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103100/mobility.urdf b/assets/urdf/Stapler/103100/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1d9db7ad73d9ac3278c2c26c29f9ae9facff8fea
--- /dev/null
+++ b/assets/urdf/Stapler/103100/mobility.urdf
@@ -0,0 +1,77 @@
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diff --git a/assets/urdf/Stapler/103100/mobility_v2.json b/assets/urdf/Stapler/103100/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..78c9639bd96f479cf32ada8ac93bdd4b7b74d7e3
--- /dev/null
+++ b/assets/urdf/Stapler/103100/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "body", "parts": [{"id": 1, "name": "body", "children": []}], "jointData": {"axis": {"origin": [0.0, 0.0006955059627570159, -0.3389185856046385], "direction": [-1.0, 0.0, 0.0]}, "limit": {"a": 4, "b": -160.2, "noLimit": false}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "lid", "parts": [{"id": 2, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.020562913603634957, -0.8268847886795407], "direction": [-1.0, 0.0, 0.0]}, "limit": {"a": -10.079999999999984, "b": 113.76, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103100/model_data.json b/assets/urdf/Stapler/103100/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b3d9b8be3fe80a0d2d5f6903a86993fadaa3202
--- /dev/null
+++ b/assets/urdf/Stapler/103100/model_data.json
@@ -0,0 +1,98 @@
+{
+ "scale": 0.09,
+ "transform_matrix": [
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+ "init_qpos": [],
+ "grasp_parts": {
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+ "matrix": [
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+ "base": "base",
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+ }
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+ "body": [
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+ "matrix": [
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103100/result.json b/assets/urdf/Stapler/103100/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..da29b3a01db7ef2c69c25e31b54692c5b983a278
--- /dev/null
+++ b/assets/urdf/Stapler/103100/result.json
@@ -0,0 +1 @@
+[{"text": "Stapler", "name": "Stapler", "id": 0, "children": [{"text": "body", "name": "body", "id": 1, "objs": ["original-4"]}, {"text": "lid", "name": "lid", "id": 2, "objs": ["original-3"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-5", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103100/result_original.json b/assets/urdf/Stapler/103100/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1b37ebcd1e7d2d1b683f8ae9bbe0398cf807a14
--- /dev/null
+++ b/assets/urdf/Stapler/103100/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-4"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-3"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103100/semantics.txt b/assets/urdf/Stapler/103100/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/103100/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
+link_1 hinge lid
+link_2 free stapler_base
diff --git a/assets/urdf/Stapler/103113/bounding_box.json b/assets/urdf/Stapler/103113/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfce891b7ae9055cb13aaace014a3533fe0740ba
--- /dev/null
+++ b/assets/urdf/Stapler/103113/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.219021, -0.268146, -1.006042], "max": [0.228819, 0.460558, 0.874413]}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103113/grasp_poses.json b/assets/urdf/Stapler/103113/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..75bee6f33f14e78bf2845523d40bff964c014dbe
--- /dev/null
+++ b/assets/urdf/Stapler/103113/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+ "object_name": "103113",
+ "scale": 0.09,
+ "grasp_parts": {
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+ "matrix": [
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+ }
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103113/meta.json b/assets/urdf/Stapler/103113/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43e0f70619c6c523d4a2fcecb666119a152353d3
--- /dev/null
+++ b/assets/urdf/Stapler/103113/meta.json
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103113/mobility.urdf b/assets/urdf/Stapler/103113/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..22c738237e6fe330f250660a7c6e0fa78ae50181
--- /dev/null
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diff --git a/assets/urdf/Stapler/103113/mobility_v2.json b/assets/urdf/Stapler/103113/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..656c75a4b1d00164097e5cb09739074c0deda906
--- /dev/null
+++ b/assets/urdf/Stapler/103113/mobility_v2.json
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103113/model_data.json b/assets/urdf/Stapler/103113/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..abb222b95d14dcea7e1c9bbab2d0464c2e2df8f5
--- /dev/null
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diff --git a/assets/urdf/Stapler/103113/result.json b/assets/urdf/Stapler/103113/result.json
new file mode 100644
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diff --git a/assets/urdf/Stapler/103113/result_original.json b/assets/urdf/Stapler/103113/result_original.json
new file mode 100644
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103113/semantics.txt b/assets/urdf/Stapler/103113/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/103113/semantics.txt
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+link_1 hinge lid
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diff --git a/assets/urdf/Stapler/103271/bounding_box.json b/assets/urdf/Stapler/103271/bounding_box.json
new file mode 100644
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\ No newline at end of file
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new file mode 100644
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diff --git a/assets/urdf/Stapler/103271/meta.json b/assets/urdf/Stapler/103271/meta.json
new file mode 100644
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103271/mobility.urdf b/assets/urdf/Stapler/103271/mobility.urdf
new file mode 100644
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diff --git a/assets/urdf/Stapler/103271/mobility_v2.json b/assets/urdf/Stapler/103271/mobility_v2.json
new file mode 100644
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103271/model_data.json b/assets/urdf/Stapler/103271/model_data.json
new file mode 100644
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diff --git a/assets/urdf/Stapler/103271/result.json b/assets/urdf/Stapler/103271/result.json
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Stapler/103271/result.json
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103271/result_original.json b/assets/urdf/Stapler/103271/result_original.json
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Stapler/103271/result_original.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103271/semantics.txt b/assets/urdf/Stapler/103271/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/103271/semantics.txt
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diff --git a/assets/urdf/Stapler/103280/result_original.json b/assets/urdf/Stapler/103280/result_original.json
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Stapler/103280/result_original.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103280/semantics.txt b/assets/urdf/Stapler/103280/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/103280/semantics.txt
@@ -0,0 +1,3 @@
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diff --git a/assets/urdf/Stapler/103297/result.json b/assets/urdf/Stapler/103297/result.json
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Stapler/103297/result.json
@@ -0,0 +1 @@
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diff --git a/assets/urdf/Stapler/103299/bounding_box.json b/assets/urdf/Stapler/103299/bounding_box.json
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Stapler/103299/bounding_box.json
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103299/grasp_poses.json b/assets/urdf/Stapler/103299/grasp_poses.json
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Stapler/103299/grasp_poses.json
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103299/meta.json b/assets/urdf/Stapler/103299/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5091a9e8ebf5ab0a9d6c4fb2cc1991cf399fb5b2
--- /dev/null
+++ b/assets/urdf/Stapler/103299/meta.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103299/mobility.urdf b/assets/urdf/Stapler/103299/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8fa87c550c529c7bb03172553cea1fccac330642
--- /dev/null
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diff --git a/assets/urdf/Stapler/103299/mobility_v2.json b/assets/urdf/Stapler/103299/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..0389126314034917c9ba68e5dd1976d824a59a32
--- /dev/null
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103299/model_data.json b/assets/urdf/Stapler/103299/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..56086da2eff472bbba8900dad2e0b6fff1695727
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diff --git a/assets/urdf/Stapler/103299/result.json b/assets/urdf/Stapler/103299/result.json
new file mode 100644
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diff --git a/assets/urdf/Stapler/103299/result_original.json b/assets/urdf/Stapler/103299/result_original.json
new file mode 100644
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103299/semantics.txt b/assets/urdf/Stapler/103299/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/103299/semantics.txt
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+link_0 hinge stapler_body
+link_1 hinge lid
+link_2 free stapler_base
diff --git a/assets/urdf/Stapler/103301/bounding_box.json b/assets/urdf/Stapler/103301/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f117a416142a8f3ff056179a90cd1a0a68062e0
--- /dev/null
+++ b/assets/urdf/Stapler/103301/bounding_box.json
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103301/grasp_poses.json b/assets/urdf/Stapler/103301/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..03123050bc7314a9bd4946681e4ea782896d50e3
--- /dev/null
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diff --git a/assets/urdf/Stapler/103301/meta.json b/assets/urdf/Stapler/103301/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda0fff87e310bfd13ec26ce49cbff295e3d0f04
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103301/mobility.urdf b/assets/urdf/Stapler/103301/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ff825ba5ed915a399105bf5d2f89983b226c67ee
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diff --git a/assets/urdf/Stapler/103301/mobility_v2.json b/assets/urdf/Stapler/103301/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c33a64ca0433220084eb233edc0dbe10ae06ae58
--- /dev/null
+++ b/assets/urdf/Stapler/103301/mobility_v2.json
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103301/result.json b/assets/urdf/Stapler/103301/result.json
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Stapler/103301/result.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103301/result_original.json b/assets/urdf/Stapler/103301/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..437ef4b18f5a1f84f72c9764dc7ed32062225644
--- /dev/null
+++ b/assets/urdf/Stapler/103301/result_original.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103301/semantics.txt b/assets/urdf/Stapler/103301/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/103301/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
+link_1 hinge lid
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diff --git a/assets/urdf/Stapler/103303/grasp_poses.json b/assets/urdf/Stapler/103303/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f88447200fe2f47d3741594bcad91ec40f56856c
--- /dev/null
+++ b/assets/urdf/Stapler/103303/grasp_poses.json
@@ -0,0 +1,72 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103303/mobility.urdf b/assets/urdf/Stapler/103303/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bf77ef90a6a4b453756a906526671fa57752d878
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diff --git a/assets/urdf/Stapler/103303/mobility_v2.json b/assets/urdf/Stapler/103303/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c560e3b0c35dc3fc0339d4a3078ea208c28df9d
--- /dev/null
+++ b/assets/urdf/Stapler/103303/mobility_v2.json
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103303/model_data.json b/assets/urdf/Stapler/103303/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..447e66bbaa4f551103a1896262f99900c2ffa756
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103305/bounding_box.json b/assets/urdf/Stapler/103305/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..352d3e97a10648b3f49026960ad629ea77ade755
--- /dev/null
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diff --git a/assets/urdf/Stapler/103305/grasp_poses.json b/assets/urdf/Stapler/103305/grasp_poses.json
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Stapler/103305/grasp_poses.json
@@ -0,0 +1,72 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103305/meta.json b/assets/urdf/Stapler/103305/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..856a6f364b64b931b4b4565bf645ab2b700dc2da
--- /dev/null
+++ b/assets/urdf/Stapler/103305/meta.json
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diff --git a/assets/urdf/Stapler/103305/mobility.urdf b/assets/urdf/Stapler/103305/mobility.urdf
new file mode 100644
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diff --git a/assets/urdf/Stapler/103305/mobility_v2.json b/assets/urdf/Stapler/103305/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1e5c532b4a92776818123288b112e64ccc5000f
--- /dev/null
+++ b/assets/urdf/Stapler/103305/mobility_v2.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103305/model_data.json b/assets/urdf/Stapler/103305/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..8946e9a40dbce6abac328d77cb5f78962cd9db02
--- /dev/null
+++ b/assets/urdf/Stapler/103305/model_data.json
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diff --git a/assets/urdf/Stapler/103305/result.json b/assets/urdf/Stapler/103305/result.json
new file mode 100644
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+++ b/assets/urdf/Stapler/103305/result.json
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diff --git a/assets/urdf/Stapler/103305/result_original.json b/assets/urdf/Stapler/103305/result_original.json
new file mode 100644
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103305/semantics.txt b/assets/urdf/Stapler/103305/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/103305/semantics.txt
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+link_0 hinge stapler_body
+link_1 hinge lid
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diff --git a/assets/urdf/Stapler/103307/bounding_box.json b/assets/urdf/Stapler/103307/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..e266bf5fd5b2870cb1bef7225a767f65a864a2ab
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103307/grasp_poses.json b/assets/urdf/Stapler/103307/grasp_poses.json
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Stapler/103307/grasp_poses.json
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diff --git a/assets/urdf/Stapler/103307/meta.json b/assets/urdf/Stapler/103307/meta.json
new file mode 100644
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103307/mobility.urdf b/assets/urdf/Stapler/103307/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c4a41088032b0e86b4089e12b87808c65a3df987
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diff --git a/assets/urdf/Stapler/103307/mobility_v2.json b/assets/urdf/Stapler/103307/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..786f651bec2c2931d3d4a58972ba186a0537293b
--- /dev/null
+++ b/assets/urdf/Stapler/103307/mobility_v2.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103307/model_data.json b/assets/urdf/Stapler/103307/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a47db624481aed7fbea472b8534c362bd510fb8b
--- /dev/null
+++ b/assets/urdf/Stapler/103307/model_data.json
@@ -0,0 +1,98 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103307/result.json b/assets/urdf/Stapler/103307/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..97746ebb10ef2eddb72f528251cd8371027c4ab3
--- /dev/null
+++ b/assets/urdf/Stapler/103307/result.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103307/result_original.json b/assets/urdf/Stapler/103307/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..782bcfcc1ee93346d5680bd1877a02d5458439c6
--- /dev/null
+++ b/assets/urdf/Stapler/103307/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-31", "original-20", "original-28", "original-29", "original-21", "original-32", "original-22", "original-33"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-25"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103307/semantics.txt b/assets/urdf/Stapler/103307/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/103307/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
+link_1 hinge lid
+link_2 free stapler_base
diff --git a/assets/urdf/Stapler/103789/bounding_box.json b/assets/urdf/Stapler/103789/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..44f6cbc4ec34d11dee7f4a3e5f14d73a4914f2d1
--- /dev/null
+++ b/assets/urdf/Stapler/103789/bounding_box.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103789/grasp_poses.json b/assets/urdf/Stapler/103789/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..939a6bd00bd55458e4ce3589e5336d8b17339a69
--- /dev/null
+++ b/assets/urdf/Stapler/103789/grasp_poses.json
@@ -0,0 +1,72 @@
+{
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103789/meta.json b/assets/urdf/Stapler/103789/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38e7cf51fd9f95e2ec01fa567bc7e2b19c05955f
--- /dev/null
+++ b/assets/urdf/Stapler/103789/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Stapler", "model_id": "6a030b1836586b9f7e1c85c5c15da7fb", "version": "1", "anno_id": "3789", "time_in_sec": "1415"}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103789/mobility.urdf b/assets/urdf/Stapler/103789/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fb32f899afa1667f770a3610b4e08342970ab461
--- /dev/null
+++ b/assets/urdf/Stapler/103789/mobility.urdf
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diff --git a/assets/urdf/Stapler/103789/mobility_v2.json b/assets/urdf/Stapler/103789/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..166ae82991d3e112e9cc7d5860c02e65726ee879
--- /dev/null
+++ b/assets/urdf/Stapler/103789/mobility_v2.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103789/model_data.json b/assets/urdf/Stapler/103789/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..1013aadc9505f544613b262351099df028396b7a
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+++ b/assets/urdf/Stapler/103789/model_data.json
@@ -0,0 +1,98 @@
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--- /dev/null
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new file mode 100644
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\ No newline at end of file
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new file mode 100644
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new file mode 100644
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