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diff --git a/assets/urdf/Switch/100368/bounding_box.json b/assets/urdf/Switch/100368/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..93e1d84ed1386a99b21ba479633fe6460e32ca55
--- /dev/null
+++ b/assets/urdf/Switch/100368/bounding_box.json
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+{"min": [-0.846912, -0.583828, -0.46872], "max": [0.854099, 0.585617, 0.312857]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100368/grasp_poses.json b/assets/urdf/Switch/100368/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b4d88f7b81c6fea24c57a630715ab4ba28a3a17
--- /dev/null
+++ b/assets/urdf/Switch/100368/grasp_poses.json
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+{
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+    "scale": 0.08,
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+                        0.0
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        -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/Switch/100368/meta.json b/assets/urdf/Switch/100368/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e693e99e94d326c29afaf349cccf60c22d96616
--- /dev/null
+++ b/assets/urdf/Switch/100368/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "05449c4f-8af8-4fe5-bcd9-423bf1e982b6", "version": "2", "anno_id": "368", "time_in_sec": "82"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100368/mobility.urdf b/assets/urdf/Switch/100368/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a1e571dad859120f437a633c74406daee46c761e
--- /dev/null
+++ b/assets/urdf/Switch/100368/mobility.urdf
@@ -0,0 +1,469 @@
+<?xml version="1.0" ?>
+<robot name="partnet_05449c4f-8af8-4fe5-bcd9-423bf1e982b6">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-2">
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.46418500000000007 -0.005099191978710449 0.14107846118917522"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+		<limit lower="0.0" upper="0.16964600329384885"/>
+	</joint>
+	<link name="link_2">
+		<visual name="switch-3">
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-3">
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-3">
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-3">
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-3">
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-3">
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-3">
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-3">
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.46418500000000007 0.005099191978710449 -0.14107846118917522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="-0.46418500000000007 -0.005099191978710449 0.14107846118917522"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+		<limit lower="0.0" upper="0.16964600329384885"/>
+	</joint>
+	<link name="link_3">
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100368/mobility_v2.json b/assets/urdf/Switch/100368/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..630863243b31841179aca3ff8e92b0a7c0391269
--- /dev/null
+++ b/assets/urdf/Switch/100368/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":3,"joint":"hinge","name":"knob","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":3,"joint":"hinge","name":"toggle_button","parts":[{"id":2,"name":"switch"}],"jointData":{"axis":{"origin":[-0.46418500000000007,-0.005099191978710449,0.14107846118917522],"direction":[1,0,0]},"limit":{"a":0,"b":9.72,"noLimit":false}}},{"id":2,"parent":3,"joint":"hinge","name":"toggle_button","parts":[{"id":3,"name":"switch"}],"jointData":{"axis":{"origin":[-0.46418500000000007,-0.005099191978710449,0.14107846118917522],"direction":[1,0,0]},"limit":{"a":0,"b":9.72,"noLimit":false}}},{"id":3,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":4,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100368/model_data.json b/assets/urdf/Switch/100368/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..adaefa5e3feaf4e8ebe51e603c1a0c24fbb6040e
--- /dev/null
+++ b/assets/urdf/Switch/100368/model_data.json
@@ -0,0 +1,131 @@
+{
+    "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": {
+        "button_left": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        0.0,
+                        1.0,
+                        -0.5
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        1.125
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "button_right": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        0.0,
+                        1.0,
+                        -0.5
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -1.125
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "button": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.375
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        -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/Switch/100368/result.json b/assets/urdf/Switch/100368/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ee5f651903354c7f3d095b039509f511333a71f
--- /dev/null
+++ b/assets/urdf/Switch/100368/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-30"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-35", "original-41", "original-36", "original-38"]}, {"text": "switch", "name": "switch", "id": 3, "objs": ["original-19", "original-28", "original-25", "original-22", "original-23", "original-24", "original-26", "original-27"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-21", "original-4", "original-3", "original-33", "original-2", "original-16", "original-8", "original-13", "original-9", "original-39", "original-6", "original-31", "original-37", "original-15", "original-11", "original-18", "original-12", "original-20", "original-32", "original-7", "original-10", "original-14", "original-40"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100368/result_original.json b/assets/urdf/Switch/100368/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf2c0c7be6c77a25ff426a0fde998b39df0857e8
--- /dev/null
+++ b/assets/urdf/Switch/100368/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-30"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-35", "original-41", "original-36", "original-38"]}, {"id": 3, "name": "switch", "text": "switch", "objs": ["original-19", "original-28", "original-25", "original-22", "original-23", "original-24", "original-26", "original-27"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100368/semantics.txt b/assets/urdf/Switch/100368/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..936f521623cf44818e5d3dc4cdb9a093bd6c8daf
--- /dev/null
+++ b/assets/urdf/Switch/100368/semantics.txt
@@ -0,0 +1,4 @@
+link_0 hinge knob
+link_1 hinge toggle_button
+link_2 hinge toggle_button
+link_3 static switch_frame
diff --git a/assets/urdf/Switch/100847/bounding_box.json b/assets/urdf/Switch/100847/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7e908df40e21067a8fd75714c8c0f9fa4fb4b03
--- /dev/null
+++ b/assets/urdf/Switch/100847/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.921103, -0.723711, -0.19141], "max": [0.893767, 0.612234, 0.237101]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100847/grasp_poses.json b/assets/urdf/Switch/100847/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..53093536d9633ed2b72c1455c8a81b910b1349f5
--- /dev/null
+++ b/assets/urdf/Switch/100847/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "100847",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button_up": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.625
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        1.125
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.625
+                    ],
+                    [
+                        -0.9961900115013123,
+                        -0.08715999871492386,
+                        -0.0,
+                        -0.2906999886035919
+                    ],
+                    [
+                        0.08715999871492386,
+                        -0.9961900115013123,
+                        -0.0,
+                        0.6808300018310547
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100847/meta.json b/assets/urdf/Switch/100847/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b34c963408350439479bdfa35bae945885cd801e
--- /dev/null
+++ b/assets/urdf/Switch/100847/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "10c0afc22a875d09cb1cbe8af9750ec6", "version": "1", "anno_id": "847", "time_in_sec": "15"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100847/mobility.urdf b/assets/urdf/Switch/100847/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..27e96153fb113c488a49416a04bc338bd5c02885
--- /dev/null
+++ b/assets/urdf/Switch/100847/mobility.urdf
@@ -0,0 +1,209 @@
+<?xml version="1.0" ?>
+<robot name="partnet_10c0afc22a875d09cb1cbe8af9750ec6">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.04800000000000004"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.04800000000000004"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100847/mobility_v2.json b/assets/urdf/Switch/100847/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..deecbee4953b22366f7562ff9a81f3bf9d25f7f8
--- /dev/null
+++ b/assets/urdf/Switch/100847/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"slider","name":"button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.04800000000000004,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"button","parts":[{"id":2,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.04800000000000004,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":3,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100847/model_data.json b/assets/urdf/Switch/100847/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfa95568d171738b7e35639741a0eb25132d20c0
--- /dev/null
+++ b/assets/urdf/Switch/100847/model_data.json
@@ -0,0 +1,96 @@
+{
+    "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": {
+        "button_up": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.625
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        1.125
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.625
+                    ],
+                    [
+                        -0.9961900115013123,
+                        -0.08715999871492386,
+                        -0.0,
+                        -0.2906999886035919
+                    ],
+                    [
+                        0.08715999871492386,
+                        -0.9961900115013123,
+                        -0.0,
+                        0.6808300018310547
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100847/result.json b/assets/urdf/Switch/100847/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd9d65d86c089876eb804b9b0c685f7f43f85b5a
--- /dev/null
+++ b/assets/urdf/Switch/100847/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-9"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-8"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-3", "original-2", "original-13", "original-5", "original-6", "original-15", "original-11", "original-12", "original-7", "original-1", "original-10", "original-14"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100847/result_original.json b/assets/urdf/Switch/100847/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0b0d9069eba0c9e6d7122dd8eefb75c699b513e
--- /dev/null
+++ b/assets/urdf/Switch/100847/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-9"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-8"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100847/semantics.txt b/assets/urdf/Switch/100847/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7776a18dca9dc12e477eb520acf02840710a8a3a
--- /dev/null
+++ b/assets/urdf/Switch/100847/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider button
+link_1 slider button
+link_2 static switch_frame
diff --git a/assets/urdf/Switch/100847/textured_objs/original-1.mtl b/assets/urdf/Switch/100847/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0.7529411764705882 0.7529411764705882 0.7529411764705882 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100847/textured_objs/original-1.obj b/assets/urdf/Switch/100847/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f50c23a791213df32467c2f2c4474d64de4270b
--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-1.obj
@@ -0,0 +1,257 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID2
+v 0.868560 0.360169 -0.178807
+v 0.843354 0.360169 -0.178689
+v 0.868560 0.360169 -0.178689
+v 0.364430 0.360169 -0.178689
+v 0.364430 0.360169 -0.178807
+v 0.868560 0.360169 -0.191410
+v 0.364430 0.360169 -0.191410
+v 0.314017 0.309756 -0.191410
+v -0.215320 -0.017929 -0.191410
+v -0.341353 0.309756 -0.191410
+v -0.164907 -0.017929 -0.191410
+v -0.164907 -0.048177 -0.191410
+v 0.137571 -0.017929 -0.191410
+v 0.187984 -0.017929 -0.191410
+v 0.187984 -0.048177 -0.191410
+v -0.391766 0.360169 -0.191410
+v -0.895897 0.108104 -0.191410
+v -0.895897 0.360169 -0.191410
+v -0.895897 -0.143961 -0.191410
+v -0.895897 -0.396027 -0.191410
+v -0.643831 -0.307804 -0.191410
+v -0.215320 -0.048177 -0.191410
+v 0.616495 -0.307804 -0.191410
+v 0.137571 -0.048177 -0.191410
+v 0.364430 0.360169 -0.191410
+v 0.868560 0.360169 -0.191410
+v 0.616495 -0.333010 -0.191410
+v 0.893767 0.108104 -0.191410
+v 0.868560 -0.145324 -0.191410
+v 0.868560 0.108104 -0.191410
+v 0.893767 -0.145324 -0.191410
+v -0.643831 -0.333010 -0.191410
+v 0.868560 -0.396027 -0.191410
+v -0.921103 -0.143961 -0.191410
+v -0.921103 0.108104 -0.191410
+v -0.895897 0.108104 -0.191410
+v -0.921103 0.108104 -0.178807
+v -0.895897 0.108104 -0.178807
+v -0.921103 0.108104 -0.191410
+v -0.895897 0.108104 -0.191410
+v -0.895897 0.360169 -0.178807
+v -0.895897 0.360169 -0.191410
+v -0.895897 0.108104 -0.178807
+v -0.391766 0.360169 -0.178807
+v -0.895897 0.360169 -0.178807
+v -0.870690 0.360169 -0.178807
+v -0.895897 0.360169 -0.191410
+v -0.391766 0.360169 -0.191410
+v -0.341353 0.309756 -0.178807
+v -0.391766 0.360169 -0.191410
+v -0.391766 0.360169 -0.178807
+v -0.341353 0.309756 -0.191410
+v 0.314017 0.309756 -0.191410
+v -0.341353 0.309756 -0.178807
+v 0.314017 0.309756 -0.178807
+v -0.341353 0.309756 -0.191410
+v 0.893767 -0.333351 0.174084
+v 0.893767 0.297153 0.136275
+v 0.893767 0.297153 0.174084
+v 0.893767 0.108104 0.136275
+v 0.893767 -0.145324 0.136275
+v 0.893767 0.108104 -0.178807
+v 0.893767 0.108104 -0.191410
+v 0.893767 -0.333351 0.136275
+v 0.893767 -0.145324 -0.191410
+v 0.893767 -0.145324 -0.178807
+v -0.895897 -0.396027 -0.191410
+v -0.895897 -0.143961 -0.178807
+v -0.895897 -0.143961 -0.191410
+v -0.895897 -0.396027 -0.178807
+v -0.921103 -0.143961 -0.191410
+v -0.895897 -0.143961 -0.178807
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new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-10.mtl
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-10.obj b/assets/urdf/Switch/100847/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..736d2a73231de8c519f41b93058a5e208ff84e85
--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-10.obj
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-11.mtl b/assets/urdf/Switch/100847/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-11.obj b/assets/urdf/Switch/100847/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb7dc5f685b289e7b2958f514bcffacbd109f565
--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-11.obj
@@ -0,0 +1,83 @@
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-12.mtl b/assets/urdf/Switch/100847/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-12.obj b/assets/urdf/Switch/100847/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8acfafdb4804829d525a4e53b8bdc8817214815
--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-12.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
+# 12
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+o #ID76
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-13.mtl b/assets/urdf/Switch/100847/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-13.obj b/assets/urdf/Switch/100847/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..641e8bb7e185ed828c36f4a8abb40a78186f20a8
--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-13.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
+o #ID82
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-14.mtl b/assets/urdf/Switch/100847/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-14.mtl
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-14.obj b/assets/urdf/Switch/100847/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dd431c5f4afdc81a82e901c09f0c47619d4ce57
--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-14.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-3.obj b/assets/urdf/Switch/100847/textured_objs/original-3.obj
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+++ b/assets/urdf/Switch/100847/textured_objs/original-3.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..4b7bddef106721cc69040166bdfa94ab49d7459b
--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-4.mtl
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-4.obj b/assets/urdf/Switch/100847/textured_objs/original-4.obj
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-4.obj
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-5.obj b/assets/urdf/Switch/100847/textured_objs/original-5.obj
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-5.obj
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-6.obj b/assets/urdf/Switch/100847/textured_objs/original-6.obj
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--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-6.obj
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-7.obj b/assets/urdf/Switch/100847/textured_objs/original-7.obj
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--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-7.obj
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-8.obj b/assets/urdf/Switch/100847/textured_objs/original-8.obj
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--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-8.obj
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diff --git a/assets/urdf/Switch/100847/textured_objs/original-9.mtl b/assets/urdf/Switch/100847/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100847/textured_objs/original-9.obj b/assets/urdf/Switch/100847/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce53428444dfd1f176538a6a051231e73b51a8bb
--- /dev/null
+++ b/assets/urdf/Switch/100847/textured_objs/original-9.obj
@@ -0,0 +1,243 @@
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diff --git a/assets/urdf/Switch/100871/bounding_box.json b/assets/urdf/Switch/100871/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..90b89a6a8cd56bc2d6848f2200a92eae3349b78d
--- /dev/null
+++ b/assets/urdf/Switch/100871/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.931314, -0.887083, -0.3259], "max": [0.698109, 0.894146, 0.402785]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100871/grasp_poses.json b/assets/urdf/Switch/100871/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..24030ac49c8e598ea51155f6327f22651be3ffbc
--- /dev/null
+++ b/assets/urdf/Switch/100871/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "100871",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.0,
+                        -0.0,
+                        1.0,
+                        -0.625
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        -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/Switch/100871/meta.json b/assets/urdf/Switch/100871/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff65e674f3d3cb457af730a391645519fc42b512
--- /dev/null
+++ b/assets/urdf/Switch/100871/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "251f4c140c41f05d25975e984b0e050b", "version": "1", "anno_id": "871", "time_in_sec": "12"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100871/mobility.urdf b/assets/urdf/Switch/100871/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b5181039b527da53a988327fda6da0822e9d2f48
--- /dev/null
+++ b/assets/urdf/Switch/100871/mobility.urdf
@@ -0,0 +1,55 @@
+<?xml version="1.0" ?>
+<robot name="partnet_251f4c140c41f05d25975e984b0e050b">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="-0.04026600031718474 -0.0025320589489936903 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.04026600031718474 -0.0025320589489936903 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.04026600031718474 0.0025320589489936903 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</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/Switch/100871/mobility_v2.json b/assets/urdf/Switch/100871/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd05d4a48ca198ac0348b0de2d65059442d7815f
--- /dev/null
+++ b/assets/urdf/Switch/100871/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"knob","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0.04026600031718474,0.0025320589489936903,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100871/model_data.json b/assets/urdf/Switch/100871/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..10c2425613b6e2f7fdd3ea317d4cb52208db7fbf
--- /dev/null
+++ b/assets/urdf/Switch/100871/model_data.json
@@ -0,0 +1,65 @@
+{
+    "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": {
+        "button": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.0,
+                        -0.0,
+                        1.0,
+                        -0.625
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        -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/Switch/100871/result.json b/assets/urdf/Switch/100871/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..185e98c8a5343f89bc64ec4c715e2df5e7c6397f
--- /dev/null
+++ b/assets/urdf/Switch/100871/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-4"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-3", "original-2"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100871/result_original.json b/assets/urdf/Switch/100871/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..0731268c9c497b0d057bec8f741aacb962fd71a4
--- /dev/null
+++ b/assets/urdf/Switch/100871/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-4"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100871/semantics.txt b/assets/urdf/Switch/100871/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..af0b6782029d48e4bc7e007cbbdc26aa88a7420f
--- /dev/null
+++ b/assets/urdf/Switch/100871/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge knob
+link_1 static switch_frame
diff --git a/assets/urdf/Switch/100906/bounding_box.json b/assets/urdf/Switch/100906/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..8645987e3174060ab5fd9f49929c1cccf553c3b8
--- /dev/null
+++ b/assets/urdf/Switch/100906/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.707506, -0.684727, -0.377757], "max": [0.682299, 0.705077, 0.198915]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100906/grasp_poses.json b/assets/urdf/Switch/100906/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..4940915920d63520d1c86d7a756abdd29855bbd7
--- /dev/null
+++ b/assets/urdf/Switch/100906/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "100906",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button_down": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08715999871492386,
+                        -0.0,
+                        0.9961900115013123,
+                        -0.5136200189590454
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.75
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.46557000279426575
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100906/meta.json b/assets/urdf/Switch/100906/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a1807c311b6d09fbf19244a739bde495b1dbc76
--- /dev/null
+++ b/assets/urdf/Switch/100906/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "596be26d-d008-4c13-a289-59c53116fdc9", "version": "1", "anno_id": "906", "time_in_sec": "21"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100906/mobility.urdf b/assets/urdf/Switch/100906/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..41fbcb564908ab1abedc1f828a1a21ef1ae86a58
--- /dev/null
+++ b/assets/urdf/Switch/100906/mobility.urdf
@@ -0,0 +1,92 @@
+<?xml version="1.0" ?>
+<robot name="partnet_596be26d-d008-4c13-a289-59c53116fdc9">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="0 -0.0075460036628927345 -0.12465143501251366"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 -0.0075460036628927345 -0.12465143501251366"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.0075460036628927345 -0.12465143501251366"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.0075460036628927345 -0.12465143501251366"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.0075460036628927345 0.12465143501251366"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="0.12217304763960307"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100906/mobility_v2.json b/assets/urdf/Switch/100906/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc173718cf566654c72e7d222d624be83f6bd80e
--- /dev/null
+++ b/assets/urdf/Switch/100906/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0.0075460036628927345,0.12465143501251366],"direction":[1,0,0]},"limit":{"a":0,"b":7,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100906/model_data.json b/assets/urdf/Switch/100906/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5c75f87da1996001e98e70fbfddba3096996a40
--- /dev/null
+++ b/assets/urdf/Switch/100906/model_data.json
@@ -0,0 +1,65 @@
+{
+    "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": {
+        "button_down": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08715999871492386,
+                        -0.0,
+                        0.9961900115013123,
+                        -0.5136200189590454
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.75
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.46557000279426575
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100906/result.json b/assets/urdf/Switch/100906/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..e011ff65fda0d610333f8908194abac66c5b14dd
--- /dev/null
+++ b/assets/urdf/Switch/100906/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-6", "original-7"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-3", "original-2", "original-9", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100906/result_original.json b/assets/urdf/Switch/100906/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..70f746b786ff817eb03143a2c828d394a90b879c
--- /dev/null
+++ b/assets/urdf/Switch/100906/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-6", "original-7"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100906/semantics.txt b/assets/urdf/Switch/100906/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eef75a31952181dcb3a637c11050ae9bcd0ad1bf
--- /dev/null
+++ b/assets/urdf/Switch/100906/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge toggle_button
+link_1 static switch_frame
diff --git a/assets/urdf/Switch/100906/textured_objs/original-10.mtl b/assets/urdf/Switch/100906/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9a10d833a56269018d8fc0d1c1fbf8e088c54f49
--- /dev/null
+++ b/assets/urdf/Switch/100906/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.1803921568627451 0.21568627450980393 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100906/textured_objs/original-10.obj b/assets/urdf/Switch/100906/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d232046e0c673103ce37a9c65c1efceb3d743d6c
--- /dev/null
+++ b/assets/urdf/Switch/100906/textured_objs/original-10.obj
@@ -0,0 +1,144 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID43
+v -0.331693 -0.367779 -0.377757
+v 0.287262 -0.371603 -0.377757
+v -0.312469 -0.371603 -0.377757
+v 0.306485 -0.367779 -0.377757
+v -0.347990 -0.356890 -0.377757
+v 0.322782 -0.356890 -0.377757
+v -0.358879 -0.340593 -0.377757
+v 0.333672 -0.340593 -0.377757
+v -0.362703 -0.321369 -0.377757
+v 0.337496 -0.321369 -0.377757
+v -0.362703 0.341719 -0.377757
+v 0.337496 0.341719 -0.377757
+v -0.358879 0.360942 -0.377757
+v 0.333672 0.360942 -0.377757
+v -0.347990 0.377239 -0.377757
+v 0.322782 0.377239 -0.377757
+v -0.331693 0.388128 -0.377757
+v 0.306485 0.388128 -0.377757
+v -0.312469 0.391952 -0.377757
+v 0.287262 0.391952 -0.377757
+v -0.312469 -0.371603 -0.377757
+v 0.287262 -0.371603 -0.026120
+v -0.312469 -0.371603 -0.026120
+v 0.287262 -0.371603 -0.377757
+v -0.331693 -0.367779 -0.377757
+v -0.331693 -0.367779 -0.026120
+v -0.347990 -0.356890 -0.377757
+v -0.347990 -0.356890 -0.026120
+v -0.358879 -0.340593 -0.377757
+v -0.358879 -0.340593 -0.026120
+v -0.362703 -0.321369 -0.377757
+v -0.362703 -0.321369 -0.026120
+v -0.362703 0.341719 -0.026120
+v -0.362703 0.341719 -0.377757
+v -0.358879 0.360942 -0.377757
+v -0.358879 0.360942 -0.026120
+v -0.347990 0.377239 -0.377757
+v -0.347990 0.377239 -0.026120
+v -0.331693 0.388128 -0.026120
+v -0.331693 0.388128 -0.377757
+v -0.312469 0.391952 -0.026120
+v -0.312469 0.391952 -0.377757
+v 0.287262 0.391952 -0.026120
+v 0.287262 0.391952 -0.377757
+v 0.306485 0.388128 -0.026120
+v 0.306485 0.388128 -0.377757
+v 0.322782 0.377239 -0.026120
+v 0.322782 0.377239 -0.377757
+v 0.333672 0.360942 -0.377757
+v 0.333672 0.360942 -0.026120
+v 0.337496 0.341719 -0.377757
+v 0.337496 0.341719 -0.026120
+v 0.337496 -0.321369 -0.377757
+v 0.337496 -0.321369 -0.026120
+v 0.333672 -0.340593 -0.377757
+v 0.333672 -0.340593 -0.026120
+v 0.322782 -0.356890 -0.377757
+v 0.322782 -0.356890 -0.026120
+v 0.306485 -0.367779 -0.026120
+v 0.306485 -0.367779 -0.377757
+vn 0 0 -1
+vn -0.09801714260491001 -0.9951847264480945 0
+vn 0.09801714260491001 -0.9951847264480945 0
+vn -0.38268341623423263 -0.9238795391929066 0
+vn -0.7071067811865476 -0.7071067811865476 0
+vn -0.9238795391929066 -0.38268341623423263 0
+vn -0.9951847264480945 -0.09801714260491001 0
+vn -0.9951847264480945 0.09801714260491001 0
+vn -0.9238795391929066 0.38268341623423263 0
+vn -0.7071067811865476 0.7071067811865476 0
+vn -0.38268341623423263 0.9238795391929066 0
+vn -0.09801714260491001 0.9951847264480945 0
+vn 0.09801714260491001 0.9951847264480945 0
+vn 0.38268341623423263 0.9238795391929066 0
+vn 0.7071067811865476 0.7071067811865476 0
+vn 0.9238795391929066 0.38268341623423263 0
+vn 0.9951847264480945 0.09801714260491001 0
+vn 0.9951847264480945 -0.09801714260491001 0
+vn 0.9238795391929066 -0.38268341623423263 0
+vn 0.7071067811865476 -0.7071067811865476 0
+vn 0.38268341623423263 -0.9238795391929066 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 4//1 1//1 5//1
+f 4//1 5//1 6//1
+f 6//1 5//1 7//1
+f 6//1 7//1 8//1
+f 8//1 7//1 9//1
+f 8//1 9//1 10//1
+f 10//1 9//1 11//1
+f 10//1 11//1 12//1
+f 12//1 11//1 13//1
+f 12//1 13//1 14//1
+f 14//1 13//1 15//1
+f 14//1 15//1 16//1
+f 16//1 15//1 17//1
+f 16//1 17//1 18//1
+f 18//1 17//1 19//1
+f 18//1 19//1 20//1
+f 21//2 22//3 23//2
+f 22//3 21//2 24//3
+f 25//4 23//2 26//4
+f 23//2 25//4 21//2
+f 27//5 26//4 28//5
+f 26//4 27//5 25//4
+f 29//6 28//5 30//6
+f 28//5 29//6 27//5
+f 31//7 30//6 32//7
+f 30//6 31//7 29//6
+f 33//8 31//7 32//7
+f 31//7 33//8 34//8
+f 35//9 33//8 36//9
+f 33//8 35//9 34//8
+f 37//10 36//9 38//10
+f 36//9 37//10 35//9
+f 39//11 37//10 38//10
+f 37//10 39//11 40//11
+f 41//12 40//11 39//11
+f 40//11 41//12 42//12
+f 43//13 42//12 41//12
+f 42//12 43//13 44//13
+f 45//14 44//13 43//13
+f 44//13 45//14 46//14
+f 47//15 46//14 45//14
+f 46//14 47//15 48//15
+f 49//16 47//15 50//16
+f 47//15 49//16 48//15
+f 51//17 50//16 52//17
+f 50//16 51//17 49//16
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+f 52//17 53//18 51//17
+f 55//19 54//18 56//19
+f 54//18 55//19 53//18
+f 57//20 56//19 58//20
+f 56//19 57//20 55//19
+f 57//20 59//21 60//21
+f 59//21 57//20 58//20
+f 60//21 22//3 24//3
+f 22//3 60//21 59//21
diff --git a/assets/urdf/Switch/100906/textured_objs/original-2.mtl b/assets/urdf/Switch/100906/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9a10d833a56269018d8fc0d1c1fbf8e088c54f49
--- /dev/null
+++ b/assets/urdf/Switch/100906/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.1803921568627451 0.21568627450980393 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100906/textured_objs/original-2.obj b/assets/urdf/Switch/100906/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02f3bcbd510a282414221fe64cd98af37509b7c9
--- /dev/null
+++ b/assets/urdf/Switch/100906/textured_objs/original-2.obj
@@ -0,0 +1,111 @@
+# SSTK version 0.8.0
+# 2
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diff --git a/assets/urdf/Switch/100906/textured_objs/original-3.obj b/assets/urdf/Switch/100906/textured_objs/original-3.obj
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diff --git a/assets/urdf/Switch/100906/textured_objs/original-6.obj b/assets/urdf/Switch/100906/textured_objs/original-6.obj
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new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Switch/100906/textured_objs/original-7.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/Switch/100906/textured_objs/original-7.obj b/assets/urdf/Switch/100906/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea9f71d4462d7a91d5435de2748d027910360cda
--- /dev/null
+++ b/assets/urdf/Switch/100906/textured_objs/original-7.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o #ID28
+v 0.049470 -0.361165 0.194277
+v -0.062838 -0.366063 0.194534
+v 0.037630 -0.366063 0.194534
+v -0.074678 -0.361165 0.194277
+v -0.079582 -0.349341 0.193657
+v 0.054375 -0.349341 0.193657
+v 0.049470 -0.337517 0.193038
+v -0.074678 -0.337517 0.193038
+v 0.037630 -0.332620 0.192781
+v -0.062838 -0.332620 0.192781
+vn 0 0.05233461027732334 0.9986296052927336
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 4//1 1//1 5//1
+f 5//1 1//1 6//1
+f 5//1 6//1 7//1
+f 5//1 7//1 8//1
+f 8//1 7//1 9//1
+f 8//1 9//1 10//1
diff --git a/assets/urdf/Switch/100906/textured_objs/original-9.mtl b/assets/urdf/Switch/100906/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9a10d833a56269018d8fc0d1c1fbf8e088c54f49
--- /dev/null
+++ b/assets/urdf/Switch/100906/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.1803921568627451 0.21568627450980393 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100906/textured_objs/original-9.obj b/assets/urdf/Switch/100906/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7277c1871dc05439ee48b283fbbad16d1613bc12
--- /dev/null
+++ b/assets/urdf/Switch/100906/textured_objs/original-9.obj
@@ -0,0 +1,189 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o #ID37
+v -0.479210 -0.450303 -0.026120
+v -0.473081 -0.456431 0.040859
+v -0.479210 -0.450303 0.040859
+v -0.473081 -0.456431 -0.026120
+v 0.447874 -0.456431 0.040859
+v -0.464709 -0.458675 0.040859
+v 0.439501 -0.458675 0.040859
+v -0.473081 -0.456431 0.040859
+v 0.454003 -0.450303 0.040859
+v -0.479210 -0.450303 0.040859
+v 0.456246 -0.441930 0.040859
+v -0.481453 -0.441930 0.040859
+v 0.456246 0.462280 0.040859
+v -0.481453 0.462280 0.040859
+v 0.454003 0.470652 0.040859
+v -0.479210 0.470652 0.040859
+v 0.447874 0.476781 0.040859
+v -0.473081 0.476781 0.040859
+v 0.439501 0.479024 0.040859
+v -0.464709 0.479024 0.040859
+v -0.481453 -0.441930 -0.026120
+v -0.481453 -0.441930 0.040859
+v -0.473081 -0.456431 -0.026120
+v 0.439501 -0.458675 -0.026120
+v -0.464709 -0.458675 -0.026120
+v 0.447874 -0.456431 -0.026120
+v -0.479210 -0.450303 -0.026120
+v 0.454003 -0.450303 -0.026120
+v -0.481453 -0.441930 -0.026120
+v 0.456246 -0.441930 -0.026120
+v -0.312469 -0.371603 -0.026120
+v -0.331693 -0.367779 -0.026120
+v -0.347990 -0.356890 -0.026120
+v -0.358879 -0.340593 -0.026120
+v -0.362703 -0.321369 -0.026120
+v -0.481453 0.462280 -0.026120
+v -0.362703 0.341719 -0.026120
+v -0.358879 0.360942 -0.026120
+v -0.347990 0.377239 -0.026120
+v -0.331693 0.388128 -0.026120
+v -0.312469 0.391952 -0.026120
+v 0.287262 0.391952 -0.026120
+v 0.337496 -0.321369 -0.026120
+v 0.456246 0.462280 -0.026120
+v 0.333672 -0.340593 -0.026120
+v 0.322782 -0.356890 -0.026120
+v 0.306485 -0.367779 -0.026120
+v 0.287262 -0.371603 -0.026120
+v 0.337496 0.341719 -0.026120
+v 0.333672 0.360942 -0.026120
+v 0.322782 0.377239 -0.026120
+v 0.306485 0.388128 -0.026120
+v -0.479210 0.470652 -0.026120
+v 0.454003 0.470652 -0.026120
+v -0.473081 0.476781 -0.026120
+v 0.447874 0.476781 -0.026120
+v -0.464709 0.479024 -0.026120
+v 0.439501 0.479024 -0.026120
+v -0.464709 -0.458675 -0.026120
+v -0.464709 -0.458675 0.040859
+v 0.447874 -0.456431 -0.026120
+v 0.439501 -0.458675 0.040859
+v 0.439501 -0.458675 -0.026120
+v 0.447874 -0.456431 0.040859
+v 0.454003 -0.450303 -0.026120
+v 0.454003 -0.450303 0.040859
+v 0.456246 -0.441930 0.040859
+v 0.456246 -0.441930 -0.026120
+v 0.456246 0.462280 0.040859
+v 0.456246 0.462280 -0.026120
+v 0.454003 0.470652 0.040859
+v 0.454003 0.470652 -0.026120
+v 0.447874 0.476781 -0.026120
+v 0.447874 0.476781 0.040859
+v 0.439501 0.479024 -0.026120
+v 0.439501 0.479024 0.040859
+v -0.464709 0.479024 -0.026120
+v -0.464709 0.479024 0.040859
+v -0.473081 0.476781 -0.026120
+v -0.473081 0.476781 0.040859
+v -0.479210 0.470652 0.040859
+v -0.479210 0.470652 -0.026120
+v -0.481453 0.462280 0.040859
+v -0.481453 0.462280 -0.026120
+vn -0.866025402838329 -0.5000000016387101 0
+vn -0.5000000016387101 -0.866025402838329 0
+vn 0 0 1
+vn -0.9914448610250887 -0.1305261948688555 0
+vn 0 0 -1
+vn -0.1305261948688555 -0.9914448610250887 0
+vn 0.5000000016387101 -0.866025402838329 0
+vn 0.1305261948688555 -0.9914448610250887 0
+vn 0.866025402838329 -0.5000000016387101 0
+vn 0.9914448610250887 -0.1305261948688555 0
+vn 0.9914448610250887 0.1305261948688555 0
+vn 0.866025402838329 0.5000000016387101 0
+vn 0.5000000016387101 0.866025402838329 0
+vn 0.1305261948688555 0.9914448610250887 0
+vn -0.1305261948688555 0.9914448610250887 0
+vn -0.5000000016387101 0.866025402838329 0
+vn -0.866025402838329 0.5000000016387101 0
+vn -0.9914448610250887 0.1305261948688555 0
+usemtl material_0_0
+f 1//1 2//2 3//1
+f 2//2 1//1 4//2
+f 5//3 6//3 7//3
+f 6//3 5//3 8//3
+f 8//3 5//3 9//3
+f 8//3 9//3 10//3
+f 10//3 9//3 11//3
+f 10//3 11//3 12//3
+f 12//3 11//3 13//3
+f 12//3 13//3 14//3
+f 14//3 13//3 15//3
+f 14//3 15//3 16//3
+f 16//3 15//3 17//3
+f 16//3 17//3 18//3
+f 18//3 17//3 19//3
+f 18//3 19//3 20//3
+f 21//4 3//1 22//4
+f 3//1 21//4 1//1
+f 23//5 24//5 25//5
+f 24//5 23//5 26//5
+f 26//5 23//5 27//5
+f 26//5 27//5 28//5
+f 28//5 27//5 29//5
+f 28//5 29//5 30//5
+f 30//5 29//5 31//5
+f 31//5 29//5 32//5
+f 32//5 29//5 33//5
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+f 35//5 36//5 37//5
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+f 59//6 2//2 4//2
+f 2//2 59//6 60//6
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+f 77//15 76//14 75//14
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diff --git a/assets/urdf/Switch/100911/bounding_box.json b/assets/urdf/Switch/100911/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..429ab9eff6cf3cfb789a017eeaf3018d656c0a9c
--- /dev/null
+++ b/assets/urdf/Switch/100911/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.68141, -0.677618, -0.4382], "max": [0.658561, 0.662352, 0.558607]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100911/grasp_poses.json b/assets/urdf/Switch/100911/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aea8708e96735288532796d57e3e59406b44786
--- /dev/null
+++ b/assets/urdf/Switch/100911/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "100911",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.02167000062763691,
+                        0.0034600000362843275,
+                        0.9997599720954895,
+                        -0.6241300106048584
+                    ],
+                    [
+                        0.008609999902546406,
+                        -0.9999600052833557,
+                        0.003640000009909272,
+                        -0.012160000391304493
+                    ],
+                    [
+                        0.9997299909591675,
+                        0.0086899995803833,
+                        0.021640000864863396,
+                        0.008270000107586384
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100911/meta.json b/assets/urdf/Switch/100911/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c46d4ac3673ef5bd356ae0c80dea9e24327a3ea7
--- /dev/null
+++ b/assets/urdf/Switch/100911/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "693a88bbdbb6c607199f2eca998ded6d", "version": "1", "anno_id": "911", "time_in_sec": "8"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100911/mobility.urdf b/assets/urdf/Switch/100911/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bd5c797430398d795126406f91b567ef444a7dc2
--- /dev/null
+++ b/assets/urdf/Switch/100911/mobility.urdf
@@ -0,0 +1,55 @@
+<?xml version="1.0" ?>
+<robot name="partnet_693a88bbdbb6c607199f2eca998ded6d">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="0.012274097321978567 0.007633000011528805 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.012274097321978567 0.007633000011528805 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.012274097321978567 -0.007633000011528805 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100911/mobility_v2.json b/assets/urdf/Switch/100911/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1fb35c823b709ead6a7d947a94662e81e737180
--- /dev/null
+++ b/assets/urdf/Switch/100911/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"knob","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[-0.012274097321978567,-0.007633000011528805,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100911/model_data.json b/assets/urdf/Switch/100911/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb2db93564cf74e1a7b18a774cd840f038d85e84
--- /dev/null
+++ b/assets/urdf/Switch/100911/model_data.json
@@ -0,0 +1,65 @@
+{
+    "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": {
+        "button": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.02167000062763691,
+                        0.0034600000362843275,
+                        0.9997599720954895,
+                        -0.6241300106048584
+                    ],
+                    [
+                        0.008609999902546406,
+                        -0.9999600052833557,
+                        0.003640000009909272,
+                        -0.012160000391304493
+                    ],
+                    [
+                        0.9997299909591675,
+                        0.0086899995803833,
+                        0.021640000864863396,
+                        0.008270000107586384
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100911/result.json b/assets/urdf/Switch/100911/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..12b531ae4fb957560e1742f3f716501c41973829
--- /dev/null
+++ b/assets/urdf/Switch/100911/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-3"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-2", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100911/result_original.json b/assets/urdf/Switch/100911/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..d003e8da32ce7a758f1736e86696ec7837926d0e
--- /dev/null
+++ b/assets/urdf/Switch/100911/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-3"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100911/semantics.txt b/assets/urdf/Switch/100911/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..af0b6782029d48e4bc7e007cbbdc26aa88a7420f
--- /dev/null
+++ b/assets/urdf/Switch/100911/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge knob
+link_1 static switch_frame
diff --git a/assets/urdf/Switch/100911/textured_objs/original-1.mtl b/assets/urdf/Switch/100911/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0207fe806293452502c238de0edbdd00c71e78e5
--- /dev/null
+++ b/assets/urdf/Switch/100911/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100911/textured_objs/original-1.obj b/assets/urdf/Switch/100911/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c5821877d4568e0d51ccc9e9ecea51dca17fb94
--- /dev/null
+++ b/assets/urdf/Switch/100911/textured_objs/original-1.obj
@@ -0,0 +1,523 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group2/mesh1/mesh1-geometry#mesh1-geometry
+v 0.617398 -0.655966 0.215444
+v 0.606200 -0.663726 -0.438200
+v 0.617631 -0.656088 -0.438200
+v 0.605902 -0.663647 0.215444
+v 0.617631 0.640822 -0.438200
+v 0.627792 -0.646850 0.215444
+v 0.593871 -0.669806 -0.438200
+v 0.606200 0.648460 -0.438200
+v 0.627966 0.631758 -0.438200
+v 0.627966 -0.647024 -0.438200
+v 0.593503 -0.669761 0.215444
+v 0.605902 0.648381 0.215444
+v 0.617398 0.640700 0.215444
+v 0.637031 -0.636688 -0.438200
+v 0.580853 -0.674225 -0.438200
+v 0.593871 0.654540 -0.438200
+v 0.593503 0.654495 0.215444
+v 0.627792 0.631584 0.215444
+v 0.637031 0.621422 -0.438200
+v 0.636908 -0.636456 0.215444
+v 0.580411 -0.674205 0.215444
+v 0.644668 -0.625258 -0.438200
+v 0.644668 0.609992 -0.438200
+v 0.567370 -0.676907 -0.438200
+v 0.580853 0.658959 -0.438200
+v 0.580411 0.658939 0.215444
+v 0.636908 0.621190 0.215444
+v 0.644589 -0.624960 0.215444
+v 0.566852 -0.676903 0.215444
+v 0.650748 -0.612929 -0.438200
+v 0.650748 0.597663 -0.438200
+v 0.644589 0.609694 0.215444
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diff --git a/assets/urdf/Switch/100911/textured_objs/original-2.mtl b/assets/urdf/Switch/100911/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..742e05b5190132d9e889c173a7ea50569fd78089
--- /dev/null
+++ b/assets/urdf/Switch/100911/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_2
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100911/textured_objs/original-2.obj b/assets/urdf/Switch/100911/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf6e4969adfc63d02a2cb2a63dccb7edeeac90f8
--- /dev/null
+++ b/assets/urdf/Switch/100911/textured_objs/original-2.obj
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diff --git a/assets/urdf/Switch/100911/textured_objs/original-3.mtl b/assets/urdf/Switch/100911/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0207fe806293452502c238de0edbdd00c71e78e5
--- /dev/null
+++ b/assets/urdf/Switch/100911/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
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+
diff --git a/assets/urdf/Switch/100911/textured_objs/original-3.obj b/assets/urdf/Switch/100911/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..729bf0e23b1a12df513d9411561935b74b151a4e
--- /dev/null
+++ b/assets/urdf/Switch/100911/textured_objs/original-3.obj
@@ -0,0 +1,2281 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Switch/100920/bounding_box.json b/assets/urdf/Switch/100920/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..65b2f2ccdadfbec3035c3ea0d465fb2820bdbeb0
--- /dev/null
+++ b/assets/urdf/Switch/100920/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.45194, -0.677272, -0.838607], "max": [0.434588, 0.71182, 0.579287]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100920/grasp_poses.json b/assets/urdf/Switch/100920/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..37bf6e9571594fd9f8654a8b041e49e1b1a6cefb
--- /dev/null
+++ b/assets/urdf/Switch/100920/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "100920",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.17364999651908875,
+                        -0.0,
+                        0.9848099946975708,
+                        -0.7480999827384949
+                    ],
+                    [
+                        -0.9848099946975708,
+                        0.0,
+                        -0.17364999651908875,
+                        0.14670999348163605
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        -0.0,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.15992000699043274,
+                        -0.007009999826550484,
+                        0.9871000051498413,
+                        -0.7483900189399719
+                    ],
+                    [
+                        -0.9869800209999084,
+                        0.016019999980926514,
+                        0.16001999378204346,
+                        -0.27000001072883606
+                    ],
+                    [
+                        -0.016939999535679817,
+                        -0.9998499751091003,
+                        -0.004360000137239695,
+                        -0.12444999814033508
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100920/meta.json b/assets/urdf/Switch/100920/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb1f5d0df7bfd97372efa19c6e90f05bcf06d43f
--- /dev/null
+++ b/assets/urdf/Switch/100920/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "851c2161c497f566b3f63125511941df", "version": "1", "anno_id": "920", "time_in_sec": "14"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100920/mobility.urdf b/assets/urdf/Switch/100920/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e842d3e1173ab88494e201b4369918657a38b692
--- /dev/null
+++ b/assets/urdf/Switch/100920/mobility.urdf
@@ -0,0 +1,149 @@
+<?xml version="1.0" ?>
+<robot name="partnet_851c2161c497f566b3f63125511941df">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<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_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.2559999999999998"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.2559999999999998"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100920/mobility_v2.json b/assets/urdf/Switch/100920/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5b881d4296d1901b5f404f6722e854fcd3bb278
--- /dev/null
+++ b/assets/urdf/Switch/100920/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"slider","name":"slider","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.2559999999999998,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"slider","parts":[{"id":2,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.2559999999999998,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":3,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100920/model_data.json b/assets/urdf/Switch/100920/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a927c91d23339772643ad20e7c22739762d40d17
--- /dev/null
+++ b/assets/urdf/Switch/100920/model_data.json
@@ -0,0 +1,96 @@
+{
+    "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": {
+        "button": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.17364999651908875,
+                        -0.0,
+                        0.9848099946975708,
+                        -0.7480999827384949
+                    ],
+                    [
+                        -0.9848099946975708,
+                        0.0,
+                        -0.17364999651908875,
+                        0.14670999348163605
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        -0.0,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.15992000699043274,
+                        -0.007009999826550484,
+                        0.9871000051498413,
+                        -0.7483900189399719
+                    ],
+                    [
+                        -0.9869800209999084,
+                        0.016019999980926514,
+                        0.16001999378204346,
+                        -0.27000001072883606
+                    ],
+                    [
+                        -0.016939999535679817,
+                        -0.9998499751091003,
+                        -0.004360000137239695,
+                        -0.12444999814033508
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100920/result.json b/assets/urdf/Switch/100920/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f3b4b2aaf8f74197c4956ba5bf7f5d4648262ff
--- /dev/null
+++ b/assets/urdf/Switch/100920/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-2"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-1"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-8", "original-9", "original-5", "original-11", "original-12", "original-7", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100920/result_original.json b/assets/urdf/Switch/100920/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3685b4794867293b7ffea6db13eb0a619ed1fbd
--- /dev/null
+++ b/assets/urdf/Switch/100920/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-2"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100920/semantics.txt b/assets/urdf/Switch/100920/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb4b4514824bd3578dc8e5d653c51e4ae5b7646a
--- /dev/null
+++ b/assets/urdf/Switch/100920/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider slider
+link_1 slider slider
+link_2 static switch_frame
diff --git a/assets/urdf/Switch/100928/bounding_box.json b/assets/urdf/Switch/100928/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..b237c64ae2f20e8d5ad2a8ff4e6e03f1431394b8
--- /dev/null
+++ b/assets/urdf/Switch/100928/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.541663, -0.866514, -0.077353], "max": [0.557968, 0.848909, 0.096948]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100928/grasp_poses.json b/assets/urdf/Switch/100928/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cd06b6019a01ece69c2b8b95462f6ba24e862f0
--- /dev/null
+++ b/assets/urdf/Switch/100928/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+    "object_name": "100928",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button_up": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.375
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.75
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.25
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "button_down": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.375
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.75
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        -0.25
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100928/meta.json b/assets/urdf/Switch/100928/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a08c0a23540a254640470d7280b1348af4ebd9a9
--- /dev/null
+++ b/assets/urdf/Switch/100928/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "9ad69a48-38f8-405f-8f78-66e1d353c1a9", "version": "1", "anno_id": "928", "time_in_sec": "11"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100928/mobility.urdf b/assets/urdf/Switch/100928/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2c288b22ade845564d964d1a558a827eb4c896a2
--- /dev/null
+++ b/assets/urdf/Switch/100928/mobility.urdf
@@ -0,0 +1,101 @@
+<?xml version="1.0" ?>
+<robot name="partnet_9ad69a48-38f8-405f-8f78-66e1d353c1a9">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.016000000000000014"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.016000000000000014"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100928/mobility_v2.json b/assets/urdf/Switch/100928/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bfdeb4132a41c53ab143c6ad0c4b70131a634d7
--- /dev/null
+++ b/assets/urdf/Switch/100928/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"slider","name":"button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.016000000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"button","parts":[{"id":2,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.016000000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":3,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100928/model_data.json b/assets/urdf/Switch/100928/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..53a4dde3669770829a2e6e0fb5b8e94b51da78ac
--- /dev/null
+++ b/assets/urdf/Switch/100928/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": {
+        "button_up": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.375
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.75
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.25
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "button_down": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.375
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.75
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        -0.25
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100928/result.json b/assets/urdf/Switch/100928/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb02fbdf91c3fe8e3f349ab3f070481a160c3b1a
--- /dev/null
+++ b/assets/urdf/Switch/100928/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-5"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-4"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-3", "original-2", "original-6", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100928/result_original.json b/assets/urdf/Switch/100928/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..39c655b3db6f663dc57989b19e8399b393ca856c
--- /dev/null
+++ b/assets/urdf/Switch/100928/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-5"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-4"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100928/semantics.txt b/assets/urdf/Switch/100928/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7776a18dca9dc12e477eb520acf02840710a8a3a
--- /dev/null
+++ b/assets/urdf/Switch/100928/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider button
+link_1 slider button
+link_2 static switch_frame
diff --git a/assets/urdf/Switch/100930/bounding_box.json b/assets/urdf/Switch/100930/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ba0b3c266f22b67026d73a1d4e7eaa2511cd7c9
--- /dev/null
+++ b/assets/urdf/Switch/100930/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.702792, -0.732068, -0.026035], "max": [0.751176, 0.7219, 0.206182]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100930/grasp_poses.json b/assets/urdf/Switch/100930/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bb0aa5d1bb43abb88ada848ba92d323921e685b
--- /dev/null
+++ b/assets/urdf/Switch/100930/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "100930",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button_up": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.5
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.75
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100930/meta.json b/assets/urdf/Switch/100930/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..915f0c5b36a08b90f994e52671a8247dc7a57246
--- /dev/null
+++ b/assets/urdf/Switch/100930/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "9fea2427-e59c-41d9-8c7a-580dae4679e4", "version": "1", "anno_id": "930", "time_in_sec": "7"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100930/mobility.urdf b/assets/urdf/Switch/100930/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..08697c67fe97f0424de5dcdaad806126d924ce49
--- /dev/null
+++ b/assets/urdf/Switch/100930/mobility.urdf
@@ -0,0 +1,92 @@
+<?xml version="1.0" ?>
+<robot name="partnet_9fea2427-e59c-41d9-8c7a-580dae4679e4">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="0 0.0050835000000000186 -0.1444248028330044"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.0050835000000000186 -0.1444248028330044"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.0050835000000000186 0.1444248028330044"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="0.2617993877991494"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100930/mobility_v2.json b/assets/urdf/Switch/100930/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9ffc0f0a3a71066b13f4ca20368c3311bad8e53
--- /dev/null
+++ b/assets/urdf/Switch/100930/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,-0.0050835000000000186,0.1444248028330044],"direction":[1,0,0]},"limit":{"a":0,"b":-15,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100930/model_data.json b/assets/urdf/Switch/100930/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed607fa560a079c369e752cf3721ebb20b2b9883
--- /dev/null
+++ b/assets/urdf/Switch/100930/model_data.json
@@ -0,0 +1,65 @@
+{
+    "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": {
+        "button_up": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.5
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.75
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100930/result.json b/assets/urdf/Switch/100930/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3ecaa3e8b481ca20eac9889cba8ce6b7fc9ea4b
--- /dev/null
+++ b/assets/urdf/Switch/100930/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-3"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-2", "original-5", "original-6", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100930/result_original.json b/assets/urdf/Switch/100930/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..d003e8da32ce7a758f1736e86696ec7837926d0e
--- /dev/null
+++ b/assets/urdf/Switch/100930/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-3"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100930/semantics.txt b/assets/urdf/Switch/100930/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eef75a31952181dcb3a637c11050ae9bcd0ad1bf
--- /dev/null
+++ b/assets/urdf/Switch/100930/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge toggle_button
+link_1 static switch_frame
diff --git a/assets/urdf/Switch/100930/textured_objs/original-1.mtl b/assets/urdf/Switch/100930/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..80b9a61735a9b4ad0db498d962a5e34dfee16082
--- /dev/null
+++ b/assets/urdf/Switch/100930/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8627450980392157 0.8627450980392157 0.8627450980392157 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100930/textured_objs/original-1.obj b/assets/urdf/Switch/100930/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d10edea4dc08c03d1455d23ad7f6b6922c8f10f4
--- /dev/null
+++ b/assets/urdf/Switch/100930/textured_objs/original-1.obj
@@ -0,0 +1,285 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID12
+v 0.384518 0.321127 0.029887
+v 0.349764 0.320488 0.123090
+v 0.360094 0.307026 0.123090
+v 0.369706 0.340430 0.029887
+v 0.369706 0.340430 -0.016715
+v 0.384518 0.321127 -0.016715
+v 0.336302 0.330818 0.123090
+v 0.350403 0.355242 0.029887
+v 0.393829 0.298648 0.029887
+v 0.366587 0.291349 0.123090
+v 0.350403 0.355242 -0.016715
+v 0.393829 0.298648 -0.016715
+v 0.320625 0.337312 0.123090
+v 0.327924 0.364553 0.029887
+v 0.397004 0.274526 0.029887
+v 0.369044 0.272693 0.123090
+v 0.327924 0.364553 -0.016715
+v 0.397004 0.274526 -0.016715
+v 0.301969 0.339768 0.123090
+v 0.303801 0.367729 0.029887
+v 0.369044 -0.282860 0.123090
+v 0.397004 -0.284693 0.029887
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+v 0.397004 -0.284693 -0.016715
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diff --git a/assets/urdf/Switch/100930/textured_objs/original-2.mtl b/assets/urdf/Switch/100930/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a29864d1565f967cc906e73833c9d93146ded90
--- /dev/null
+++ b/assets/urdf/Switch/100930/textured_objs/original-2.mtl
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diff --git a/assets/urdf/Switch/100930/textured_objs/original-2.obj b/assets/urdf/Switch/100930/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b223f7c23c5428318321bb3a7550f57d7b00e464
--- /dev/null
+++ b/assets/urdf/Switch/100930/textured_objs/original-2.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..80b9a61735a9b4ad0db498d962a5e34dfee16082
--- /dev/null
+++ b/assets/urdf/Switch/100930/textured_objs/original-3.mtl
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index 0000000000000000000000000000000000000000..523d2486a56f012e0110fa1cf1d5fd618bc3eeeb
--- /dev/null
+++ b/assets/urdf/Switch/100930/textured_objs/original-3.obj
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Switch/100930/textured_objs/original-4.mtl
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diff --git a/assets/urdf/Switch/100930/textured_objs/original-4.obj b/assets/urdf/Switch/100930/textured_objs/original-4.obj
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index 0000000000000000000000000000000000000000..499a971afb0a69c3741e7ade4067427eaeff0e03
--- /dev/null
+++ b/assets/urdf/Switch/100930/textured_objs/original-4.obj
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+# SSTK version 0.8.0
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Switch/100930/textured_objs/original-5.obj b/assets/urdf/Switch/100930/textured_objs/original-5.obj
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index 0000000000000000000000000000000000000000..1e83ae020d602f0f21f70780f2511df31dd2d4d6
--- /dev/null
+++ b/assets/urdf/Switch/100930/textured_objs/original-5.obj
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diff --git a/assets/urdf/Switch/100930/textured_objs/original-6.mtl b/assets/urdf/Switch/100930/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cd38d827374c7451668cf69ec7c1cf1d743452d1
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diff --git a/assets/urdf/Switch/100930/textured_objs/original-6.obj b/assets/urdf/Switch/100930/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd99691e5f4c93f7767ab24aa783494c7661b349
--- /dev/null
+++ b/assets/urdf/Switch/100930/textured_objs/original-6.obj
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diff --git a/assets/urdf/Switch/100937/bounding_box.json b/assets/urdf/Switch/100937/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..390114d2f9a66e9568d96f97700dc82e09047f42
--- /dev/null
+++ b/assets/urdf/Switch/100937/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.765849, -0.662207, -0.069431], "max": [0.752875, 0.635067, 0.253458]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100937/grasp_poses.json b/assets/urdf/Switch/100937/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f32ea01b246e8e333f9d5744fdb53b064837b927
--- /dev/null
+++ b/assets/urdf/Switch/100937/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "100937",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button_down": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.08715999871492386,
+                        -0.0,
+                        0.9961900115013123,
+                        -0.5198900103569031
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.75
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        -0.08715999871492386,
+                        -0.2054699957370758
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100937/meta.json b/assets/urdf/Switch/100937/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cb2f0424ee4c5252099a6a8acdb2d2226cfc65f
--- /dev/null
+++ b/assets/urdf/Switch/100937/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "bea57a17bab41f97dc3d5b9de4300711", "version": "1", "anno_id": "937", "time_in_sec": "2354"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100937/mobility.urdf b/assets/urdf/Switch/100937/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5a6ba4dafb0cd23a6a1406ed6cebec95b469ab8e
--- /dev/null
+++ b/assets/urdf/Switch/100937/mobility.urdf
@@ -0,0 +1,44 @@
+<?xml version="1.0" ?>
+<robot name="partnet_bea57a17bab41f97dc3d5b9de4300711">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="0 -0.0014290000000000136 -0.05"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.0014290000000000136 -0.05"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.0014290000000000136 0.05"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="0.5759586531581288"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100937/mobility_v2.json b/assets/urdf/Switch/100937/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..14b444469bbfaad6bda30e1c698f9cb44f0f7016
--- /dev/null
+++ b/assets/urdf/Switch/100937/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0.0014290000000000136,0.05],"direction":[1,0,0]},"limit":{"a":0,"b":33,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100937/model_data.json b/assets/urdf/Switch/100937/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..87bd3570e098bcec51930247b4514ffb5fc15cba
--- /dev/null
+++ b/assets/urdf/Switch/100937/model_data.json
@@ -0,0 +1,65 @@
+{
+    "scale": 0.08,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
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+    "init_qpos": [],
+    "grasp_parts": {
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+                "matrix": [
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+                "base": "base",
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+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100937/result.json b/assets/urdf/Switch/100937/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c71955814a7f397cb9ff0d4113afb356f6aadf5
--- /dev/null
+++ b/assets/urdf/Switch/100937/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-2"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100937/result_original.json b/assets/urdf/Switch/100937/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..943e5b7c1084037fc768c5f8ccbe38ddb44ce83e
--- /dev/null
+++ b/assets/urdf/Switch/100937/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-2"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100937/semantics.txt b/assets/urdf/Switch/100937/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eef75a31952181dcb3a637c11050ae9bcd0ad1bf
--- /dev/null
+++ b/assets/urdf/Switch/100937/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge toggle_button
+link_1 static switch_frame
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new file mode 100644
index 0000000000000000000000000000000000000000..f11bfb5cd64c39914cb01f6fdf7e110b59ad679c
--- /dev/null
+++ b/assets/urdf/Switch/100937/textured_objs/original-1.mtl
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+newmtl material_1_0
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+newmtl material_2_0
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diff --git a/assets/urdf/Switch/100937/textured_objs/original-1.obj b/assets/urdf/Switch/100937/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5c42a3ca1094ffb0672fddea5b5f31584548fe2
--- /dev/null
+++ b/assets/urdf/Switch/100937/textured_objs/original-1.obj
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diff --git a/assets/urdf/Switch/100937/textured_objs/original-2.mtl b/assets/urdf/Switch/100937/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5c1a4e077a063337269fdc7f3f257d78ed68a158
--- /dev/null
+++ b/assets/urdf/Switch/100937/textured_objs/original-2.mtl
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diff --git a/assets/urdf/Switch/100937/textured_objs/original-2.obj b/assets/urdf/Switch/100937/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0857199c51e686e2691ee749e6768693345fc31
--- /dev/null
+++ b/assets/urdf/Switch/100937/textured_objs/original-2.obj
@@ -0,0 +1,109 @@
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diff --git a/assets/urdf/Switch/100952/bounding_box.json b/assets/urdf/Switch/100952/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e5d746f913c3dc3c447b8a3c9260dee5e33e000
--- /dev/null
+++ b/assets/urdf/Switch/100952/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.785574, -0.759548, -0.150644], "max": [0.777572, 0.803598, 0.251943]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100952/grasp_poses.json b/assets/urdf/Switch/100952/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..13cb774caa718958740ce48af58d54388bcd3c69
--- /dev/null
+++ b/assets/urdf/Switch/100952/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "100952",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button_down": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.01278000045567751,
+                        -0.08671999722719193,
+                        0.996150016784668,
+                        -0.6849300265312195
+                    ],
+                    [
+                        -0.07372000068426132,
+                        0.9934399724006653,
+                        0.08743000030517578,
+                        0.7004500031471252
+                    ],
+                    [
+                        -0.9972000122070312,
+                        -0.07455000281333923,
+                        0.006300000008195639,
+                        -0.36656999588012695
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100952/meta.json b/assets/urdf/Switch/100952/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54e2364b51f44873cffecea0acb584045cea04d3
--- /dev/null
+++ b/assets/urdf/Switch/100952/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "d440abd3ea98676f877975b30c3a0670", "version": "1", "anno_id": "952", "time_in_sec": "12"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100952/mobility.urdf b/assets/urdf/Switch/100952/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..155e7d7b4ddcb1570243689f973dffe1d47c36aa
--- /dev/null
+++ b/assets/urdf/Switch/100952/mobility.urdf
@@ -0,0 +1,56 @@
+<?xml version="1.0" ?>
+<robot name="partnet_d440abd3ea98676f877975b30c3a0670">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="-0.5333300000000003 -0.008866959911316495 -0.06"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5333300000000003 -0.008866959911316495 -0.06"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.5333300000000003 0.008866959911316495 0.06"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="0.3141592653589793"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</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/Switch/100952/mobility_v2.json b/assets/urdf/Switch/100952/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae31b0c6310bd9f11910564f35604965c3c7e7fa
--- /dev/null
+++ b/assets/urdf/Switch/100952/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0.5333300000000003,0.008866959911316495,0.06],"direction":[1,0,0]},"limit":{"a":0,"b":18,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100952/model_data.json b/assets/urdf/Switch/100952/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f47b30473ba53a9bb07b1347901a12fb59ea0a14
--- /dev/null
+++ b/assets/urdf/Switch/100952/model_data.json
@@ -0,0 +1,65 @@
+{
+    "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": {
+        "button_down": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.01278000045567751,
+                        -0.08671999722719193,
+                        0.996150016784668,
+                        -0.6849300265312195
+                    ],
+                    [
+                        -0.07372000068426132,
+                        0.9934399724006653,
+                        0.08743000030517578,
+                        0.7004500031471252
+                    ],
+                    [
+                        -0.9972000122070312,
+                        -0.07455000281333923,
+                        0.006300000008195639,
+                        -0.36656999588012695
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100952/result.json b/assets/urdf/Switch/100952/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..185e98c8a5343f89bc64ec4c715e2df5e7c6397f
--- /dev/null
+++ b/assets/urdf/Switch/100952/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-4"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-3", "original-2"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100952/result_original.json b/assets/urdf/Switch/100952/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..0731268c9c497b0d057bec8f741aacb962fd71a4
--- /dev/null
+++ b/assets/urdf/Switch/100952/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-4"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100952/semantics.txt b/assets/urdf/Switch/100952/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eef75a31952181dcb3a637c11050ae9bcd0ad1bf
--- /dev/null
+++ b/assets/urdf/Switch/100952/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge toggle_button
+link_1 static switch_frame
diff --git a/assets/urdf/Switch/100954/bounding_box.json b/assets/urdf/Switch/100954/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..9430557763729ba00762a76444420c257fdb2e40
--- /dev/null
+++ b/assets/urdf/Switch/100954/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.722703, -0.727265, -0.029169], "max": [0.744337, 0.739776, 0.191984]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100954/grasp_poses.json b/assets/urdf/Switch/100954/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c874ebada74f5f27d4816f4a4b14e4ad4492ecd
--- /dev/null
+++ b/assets/urdf/Switch/100954/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "100954",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button_down": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.4985699951648712
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.75
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        -0.032680001109838486
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100954/meta.json b/assets/urdf/Switch/100954/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..903a1a2c0945360d2c5027ae4d55a747f86a817c
--- /dev/null
+++ b/assets/urdf/Switch/100954/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "d75c655b-1444-4ddd-bfbc-332bf832cc4d", "version": "2", "anno_id": "954", "time_in_sec": "19"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100954/mobility.urdf b/assets/urdf/Switch/100954/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..33acbb011e0e9a239e2472efeb5b075cc0ee4a22
--- /dev/null
+++ b/assets/urdf/Switch/100954/mobility.urdf
@@ -0,0 +1,140 @@
+<?xml version="1.0" ?>
+<robot name="partnet_d75c655b-1444-4ddd-bfbc-332bf832cc4d">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.04800000000000004"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100954/mobility_v2.json b/assets/urdf/Switch/100954/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3588c3ccd11849ec6a218f93042bfb604d99d7c9
--- /dev/null
+++ b/assets/urdf/Switch/100954/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"slider","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.04800000000000004,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100954/model_data.json b/assets/urdf/Switch/100954/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..6aaeda7fa6cd95cbcf72907e49058e304c1ebc58
--- /dev/null
+++ b/assets/urdf/Switch/100954/model_data.json
@@ -0,0 +1,65 @@
+{
+    "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": {
+        "button_down": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.4985699951648712
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.75
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        -0.032680001109838486
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100954/result.json b/assets/urdf/Switch/100954/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e4ccf138f0037e8c53e559fbecd573a12d876e0
--- /dev/null
+++ b/assets/urdf/Switch/100954/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-4"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-3", "original-2", "original-8", "original-9", "original-5", "original-6", "original-7", "original-1", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100954/result_original.json b/assets/urdf/Switch/100954/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..0731268c9c497b0d057bec8f741aacb962fd71a4
--- /dev/null
+++ b/assets/urdf/Switch/100954/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-4"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100954/semantics.txt b/assets/urdf/Switch/100954/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0258c16dbcbc6621b976dd95db6c3c66ce6c883
--- /dev/null
+++ b/assets/urdf/Switch/100954/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider slider
+link_1 static switch_frame
diff --git a/assets/urdf/Switch/100963/bounding_box.json b/assets/urdf/Switch/100963/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed2765fda0c20b83b6dd7d671210841bd8b7b451
--- /dev/null
+++ b/assets/urdf/Switch/100963/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.905294, -0.525254, -0.050922], "max": [0.87233, 0.511693, 0.123782]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100963/grasp_poses.json b/assets/urdf/Switch/100963/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..b386c369cfb8656b3a24b0891c481f0465350123
--- /dev/null
+++ b/assets/urdf/Switch/100963/grasp_poses.json
@@ -0,0 +1,105 @@
+{
+    "object_name": "100963",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button_left": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.00033000000985339284,
+                        -0.08682999759912491,
+                        0.9962199926376343,
+                        -0.32861000299453735
+                    ],
+                    [
+                        -0.999970018863678,
+                        0.007600000128149986,
+                        0.00033000000985339284,
+                        0.4056600034236908
+                    ],
+                    [
+                        -0.007600000128149986,
+                        -0.9961900115013123,
+                        -0.08682999759912491,
+                        0.03172999992966652
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "button": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.25
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.08715999871492386,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -0.08715999871492386,
+                        -0.9961900115013123,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "button_right": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.007600000128149986,
+                        -0.1733199954032898,
+                        0.9848399758338928,
+                        -0.25189998745918274
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.08681999891996384,
+                        0.007600000128149986,
+                        -0.3735699951648712
+                    ],
+                    [
+                        -0.08681999891996384,
+                        -0.9810299873352051,
+                        -0.1733199954032898,
+                        -0.010769999586045742
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100963/meta.json b/assets/urdf/Switch/100963/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8996962848fe13ae6660118ab68b7ad0ae9be83d
--- /dev/null
+++ b/assets/urdf/Switch/100963/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "eaee5eb38124c72e1a45d531656bc96d", "version": "1", "anno_id": "963", "time_in_sec": "11"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100963/mobility.urdf b/assets/urdf/Switch/100963/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6fe90c1492fe6868a46c30df1dd29021dc849673
--- /dev/null
+++ b/assets/urdf/Switch/100963/mobility.urdf
@@ -0,0 +1,146 @@
+<?xml version="1.0" ?>
+<robot name="partnet_eaee5eb38124c72e1a45d531656bc96d">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="0 0.006390567813209253 -0.05"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 0.006390567813209253 -0.05"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.006390567813209253 -0.05"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.006390567813209253 -0.05"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.006390567813209253 0.05"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="0.0" upper="0.41887902047863906"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-2">
+			<origin xyz="0 0.006390567813209253 -0.05"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0 0.006390567813209253 -0.05"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.006390567813209253 -0.05"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.006390567813209253 -0.05"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0 -0.006390567813209253 0.05"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+		<limit lower="0.0" upper="0.41887902047863906"/>
+	</joint>
+	<link name="link_2">
+		<visual name="switch-3">
+			<origin xyz="0 0.006390567813209253 -0.05"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-3">
+			<origin xyz="0 0.006390567813209253 -0.05"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.006390567813209253 -0.05"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.006390567813209253 -0.05"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="0 -0.006390567813209253 0.05"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+		<limit lower="0.0" upper="0.41887902047863906"/>
+	</joint>
+	<link name="link_3">
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100963/mobility_v2.json b/assets/urdf/Switch/100963/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..80a45b8bc8180bbc647cd972d9f04626bb0295e4
--- /dev/null
+++ b/assets/urdf/Switch/100963/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":3,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,-0.006390567813209253,0.05],"direction":[1,0,0]},"limit":{"a":0,"b":24,"noLimit":false}}},{"id":1,"parent":3,"joint":"hinge","name":"toggle_button","parts":[{"id":2,"name":"switch"}],"jointData":{"axis":{"origin":[0,-0.006390567813209253,0.05],"direction":[1,0,0]},"limit":{"a":0,"b":24,"noLimit":false}}},{"id":2,"parent":3,"joint":"hinge","name":"toggle_button","parts":[{"id":3,"name":"switch"}],"jointData":{"axis":{"origin":[0,-0.006390567813209253,0.05],"direction":[1,0,0]},"limit":{"a":0,"b":24,"noLimit":false}}},{"id":3,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":4,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100963/model_data.json b/assets/urdf/Switch/100963/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c5fe642db034ac9ba674bdd723b307ececefb9b
--- /dev/null
+++ b/assets/urdf/Switch/100963/model_data.json
@@ -0,0 +1,131 @@
+{
+    "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": {
+        "button_left": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.00033000000985339284,
+                        -0.08682999759912491,
+                        0.9962199926376343,
+                        -0.32861000299453735
+                    ],
+                    [
+                        -0.999970018863678,
+                        0.007600000128149986,
+                        0.00033000000985339284,
+                        0.4056600034236908
+                    ],
+                    [
+                        -0.007600000128149986,
+                        -0.9961900115013123,
+                        -0.08682999759912491,
+                        0.03172999992966652
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "button": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.25
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.08715999871492386,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        -0.08715999871492386,
+                        -0.9961900115013123,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "button_right": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.007600000128149986,
+                        -0.1733199954032898,
+                        0.9848399758338928,
+                        -0.25189998745918274
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.08681999891996384,
+                        0.007600000128149986,
+                        -0.3735699951648712
+                    ],
+                    [
+                        -0.08681999891996384,
+                        -0.9810299873352051,
+                        -0.1733199954032898,
+                        -0.010769999586045742
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100963/result.json b/assets/urdf/Switch/100963/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..cec90d77ad8fc34712c6a863f9fdc215012cb1ea
--- /dev/null
+++ b/assets/urdf/Switch/100963/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-2", "original-8"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-6", "original-9"]}, {"text": "switch", "name": "switch", "id": 3, "objs": ["original-7", "original-4"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-3", "original-5", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100963/result_original.json b/assets/urdf/Switch/100963/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..efac9dcbbda3ab9835961e49e9c87a09e39c2362
--- /dev/null
+++ b/assets/urdf/Switch/100963/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-2", "original-8"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-6", "original-9"]}, {"id": 3, "name": "switch", "text": "switch", "objs": ["original-7", "original-4"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100963/semantics.txt b/assets/urdf/Switch/100963/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..95e9fa0597ad064eea9df5af5c13775ac963d813
--- /dev/null
+++ b/assets/urdf/Switch/100963/semantics.txt
@@ -0,0 +1,4 @@
+link_0 hinge toggle_button
+link_1 hinge toggle_button
+link_2 hinge toggle_button
+link_3 static switch_frame
diff --git a/assets/urdf/Switch/100963/textured_objs/original-1.mtl b/assets/urdf/Switch/100963/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..873a1b78131bb2144a5a1dd9b1138e5f25537b00
--- /dev/null
+++ b/assets/urdf/Switch/100963/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 1 0.8941176470588236 0.8 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100963/textured_objs/original-1.obj b/assets/urdf/Switch/100963/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef91542883e5d771f95117e9a9f8bafad7127f6d
--- /dev/null
+++ b/assets/urdf/Switch/100963/textured_objs/original-1.obj
@@ -0,0 +1,229 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID2
+v -0.231278 -0.214170 0.037960
+v -0.231278 -0.006781 0.037960
+v -0.231278 -0.214170 0.052773
+v -0.231278 0.170982 0.052773
+v -0.231278 0.200609 0.052773
+v -0.231278 0.200609 0.037960
+v -0.231278 -0.214170 0.052773
+v -0.571990 -0.214170 0.052773
+v -0.231278 -0.214170 0.037960
+v -0.401634 -0.214170 0.037960
+v -0.571990 -0.214170 0.037960
+v -0.571990 0.200609 0.052773
+v -0.231278 0.170982 0.052773
+v -0.231278 0.200609 0.052773
+v -0.264875 0.167012 0.052773
+v -0.231278 -0.214170 0.052773
+v -0.538393 0.167012 0.052773
+v -0.538393 0.109494 0.052773
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+v -0.264875 -0.180573 0.052773
+v -0.571990 -0.214170 0.052773
+v -0.264875 0.109494 0.052773
+v -0.571990 0.170982 0.052773
+v -0.571990 0.200609 0.052773
+v -0.231278 0.200609 0.052773
+v -0.571990 0.200609 0.037960
+v -0.401634 0.200609 0.037960
+v -0.231278 0.200609 0.037960
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+v -0.571990 -0.214170 0.052773
+v -0.571990 -0.006781 0.037960
+v -0.571990 0.170982 0.052773
+v -0.571990 0.200609 0.037960
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+v 0.109433 -0.214170 0.037960
+v -0.060923 -0.214170 0.037960
+v 0.109433 0.170982 0.052773
+v 0.109433 0.200609 0.052773
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+v -0.197681 0.167012 0.052773
+v -0.197681 0.109494 0.052773
+v -0.197681 -0.180573 0.052773
+v 0.075836 -0.180573 0.052773
+v 0.075836 0.109494 0.052773
+v 0.109433 0.200609 0.052773
+v -0.060923 0.200609 0.037960
+v 0.109433 0.200609 0.037960
+v 0.450144 -0.214170 0.052773
+v 0.109433 -0.214170 0.052773
+v 0.450144 -0.214170 0.037960
+v 0.279789 -0.214170 0.037960
+v 0.109433 -0.214170 0.037960
+v 0.450144 0.170982 0.052773
+v 0.450144 0.200609 0.052773
+v 0.416547 0.167012 0.052773
+v 0.450144 -0.214170 0.052773
+v 0.143030 0.167012 0.052773
+v 0.143030 0.109494 0.052773
+v 0.143030 -0.180573 0.052773
+v 0.416547 -0.180573 0.052773
+v 0.416547 0.109494 0.052773
+v 0.450144 0.200609 0.052773
+v 0.279789 0.200609 0.037960
+v 0.450144 0.200609 0.037960
+v 0.109433 -0.214170 0.037960
+v 0.109433 -0.214170 0.052773
+v 0.109433 -0.006781 0.037960
+v 0.109433 0.170982 0.052773
+v 0.109433 0.200609 0.037960
+v 0.109433 0.200609 0.052773
+v 0.450144 -0.214170 0.037960
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diff --git a/assets/urdf/Switch/100963/textured_objs/original-4.mtl b/assets/urdf/Switch/100963/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e34fb55b13125bb819291f622329aae04b827344
--- /dev/null
+++ b/assets/urdf/Switch/100963/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Switch/100963/textured_objs/original-4.obj b/assets/urdf/Switch/100963/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3792ed98516dc5df0bf24a8571330f1d0beebc38
--- /dev/null
+++ b/assets/urdf/Switch/100963/textured_objs/original-4.obj
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diff --git a/assets/urdf/Switch/100963/textured_objs/original-5.mtl b/assets/urdf/Switch/100963/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b7bddef106721cc69040166bdfa94ab49d7459b
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+++ b/assets/urdf/Switch/100963/textured_objs/original-5.mtl
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diff --git a/assets/urdf/Switch/100963/textured_objs/original-5.obj b/assets/urdf/Switch/100963/textured_objs/original-5.obj
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index 0000000000000000000000000000000000000000..05daacf1cb6436b654e6e4ef13e8ffaa4419d3bd
--- /dev/null
+++ b/assets/urdf/Switch/100963/textured_objs/original-5.obj
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diff --git a/assets/urdf/Switch/100963/textured_objs/original-6.mtl b/assets/urdf/Switch/100963/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..873a1b78131bb2144a5a1dd9b1138e5f25537b00
--- /dev/null
+++ b/assets/urdf/Switch/100963/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 1 0.8941176470588236 0.8 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100963/textured_objs/original-6.obj b/assets/urdf/Switch/100963/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2db31493ada762526b5b638d1956fd67f5f04534
--- /dev/null
+++ b/assets/urdf/Switch/100963/textured_objs/original-6.obj
@@ -0,0 +1,69 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o #ID40
+v 0.075836 0.167012 0.052773
+v 0.075836 0.167012 0.037960
+v 0.075836 0.109494 0.052773
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diff --git a/assets/urdf/Switch/100963/textured_objs/original-7.mtl b/assets/urdf/Switch/100963/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..873a1b78131bb2144a5a1dd9b1138e5f25537b00
--- /dev/null
+++ b/assets/urdf/Switch/100963/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
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+Kd 1 0.8941176470588236 0.8 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100963/textured_objs/original-7.obj b/assets/urdf/Switch/100963/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d124dcc9df462d9470e7e8bb8c96ba7edf0d187
--- /dev/null
+++ b/assets/urdf/Switch/100963/textured_objs/original-7.obj
@@ -0,0 +1,69 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o #ID46
+v -0.538393 -0.166218 0.123782
+v -0.538393 0.109494 0.052773
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diff --git a/assets/urdf/Switch/100963/textured_objs/original-8.mtl b/assets/urdf/Switch/100963/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e34fb55b13125bb819291f622329aae04b827344
--- /dev/null
+++ b/assets/urdf/Switch/100963/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0.8 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100963/textured_objs/original-8.obj b/assets/urdf/Switch/100963/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db1a4b28522f21ee29bf2d655517a5c8daac9ccb
--- /dev/null
+++ b/assets/urdf/Switch/100963/textured_objs/original-8.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o #ID52
+v 0.242755 -0.092150 0.123782
+v 0.316822 -0.106964 0.123782
+v 0.316822 -0.092150 0.123782
+v 0.242755 -0.106964 0.123782
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+usemtl material_0_2
+f 1//1 2//1 3//1
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+f 4//2 1//2 2//2
diff --git a/assets/urdf/Switch/100963/textured_objs/original-9.mtl b/assets/urdf/Switch/100963/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e34fb55b13125bb819291f622329aae04b827344
--- /dev/null
+++ b/assets/urdf/Switch/100963/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0.8 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100963/textured_objs/original-9.obj b/assets/urdf/Switch/100963/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f78c1342ffb3250a0a55510e96c2d8ff499d378
--- /dev/null
+++ b/assets/urdf/Switch/100963/textured_objs/original-9.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o #ID58
+v -0.097957 -0.092150 0.123782
+v -0.023889 -0.106964 0.123782
+v -0.023889 -0.092150 0.123782
+v -0.097957 -0.106964 0.123782
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+f 4//2 1//2 2//2
diff --git a/assets/urdf/Switch/100968/bounding_box.json b/assets/urdf/Switch/100968/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..6367b69a9f5f5e2abeab2c317057b6101ee3bc9f
--- /dev/null
+++ b/assets/urdf/Switch/100968/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.814793, -0.796081, -0.337289], "max": [0.78588, 0.804592, 0.2894]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100968/grasp_poses.json b/assets/urdf/Switch/100968/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06e37ca76ed4515b3396a339f662be7d52e7740
--- /dev/null
+++ b/assets/urdf/Switch/100968/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "100968",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button_down": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08715999871492386,
+                        -0.0,
+                        0.9961900115013123,
+                        -0.6117299795150757
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.75
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.17900000512599945
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100968/meta.json b/assets/urdf/Switch/100968/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ee410afdef809de9ef051bd94408b7864a4ed52
--- /dev/null
+++ b/assets/urdf/Switch/100968/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "f1a594c8d443d1f478c6cdece1c4cf59", "version": "1", "anno_id": "968", "time_in_sec": "9"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100968/mobility.urdf b/assets/urdf/Switch/100968/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d155c053ae81a2144bbe9db19c28e5dff0843e2a
--- /dev/null
+++ b/assets/urdf/Switch/100968/mobility.urdf
@@ -0,0 +1,188 @@
+<?xml version="1.0" ?>
+<robot name="partnet_f1a594c8d443d1f478c6cdece1c4cf59">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="-0.3256860000000006 0.0002500155659419523 -0.13263571164123522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3256860000000006 0.0002500155659419523 -0.13263571164123522"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.3256860000000006 -0.0002500155659419523 0.13263571164123522"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="0.47123889803846897"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100968/mobility_v2.json b/assets/urdf/Switch/100968/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0efc70c6295db79b5d1af1eeb2d8ff27593c45f
--- /dev/null
+++ b/assets/urdf/Switch/100968/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0.3256860000000006,-0.0002500155659419523,0.13263571164123522],"direction":[1,0,0]},"limit":{"a":0,"b":27,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100968/model_data.json b/assets/urdf/Switch/100968/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbc609c086195763d1eee57e870f5b21d6aeb78c
--- /dev/null
+++ b/assets/urdf/Switch/100968/model_data.json
@@ -0,0 +1,65 @@
+{
+    "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": {
+        "button_down": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.08715999871492386,
+                        -0.0,
+                        0.9961900115013123,
+                        -0.6117299795150757
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.75
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        0.08715999871492386,
+                        -0.17900000512599945
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100968/result.json b/assets/urdf/Switch/100968/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0457f2bbb77e3ded7c821fe911fbece0e92ae173
--- /dev/null
+++ b/assets/urdf/Switch/100968/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-14"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-16", "original-8", "original-13", "original-9", "original-5", "original-6", "original-15", "original-11", "original-12", "original-7", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100968/result_original.json b/assets/urdf/Switch/100968/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2b75ce7d09adb943c62bb1e59ab569e58e609ca
--- /dev/null
+++ b/assets/urdf/Switch/100968/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-14"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100968/semantics.txt b/assets/urdf/Switch/100968/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eef75a31952181dcb3a637c11050ae9bcd0ad1bf
--- /dev/null
+++ b/assets/urdf/Switch/100968/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge toggle_button
+link_1 static switch_frame
diff --git a/assets/urdf/Switch/100971/bounding_box.json b/assets/urdf/Switch/100971/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1d4aaa08c50101e02f0d8dad13d550dcd145227
--- /dev/null
+++ b/assets/urdf/Switch/100971/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.591209, -0.564125, -0.693903], "max": [0.579641, 0.606725, 0.898452]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100971/grasp_poses.json b/assets/urdf/Switch/100971/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f40a8179a4ad2b157e6d0033002a77daef7c174c
--- /dev/null
+++ b/assets/urdf/Switch/100971/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "100971",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button_left": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        0.9659299850463867,
+                        0.2588199973106384,
+                        -0.0579800009727478
+                    ],
+                    [
+                        0.0,
+                        0.2588199973106384,
+                        -0.9659299850463867,
+                        0.6089900135993958
+                    ],
+                    [
+                        -1.0,
+                        -0.0,
+                        -0.0,
+                        -0.25
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100971/meta.json b/assets/urdf/Switch/100971/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c53c092bbc1844f8722eeae9d001cc666feef21
--- /dev/null
+++ b/assets/urdf/Switch/100971/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "fbeb088c-8a6f-4075-8283-ff5cdcfedf6a", "version": "3", "anno_id": "971", "time_in_sec": "42"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100971/mobility.urdf b/assets/urdf/Switch/100971/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5710ae47a6272089f15af7e8573eab72aeca7909
--- /dev/null
+++ b/assets/urdf/Switch/100971/mobility.urdf
@@ -0,0 +1,164 @@
+<?xml version="1.0" ?>
+<robot name="partnet_fbeb088c-8a6f-4075-8283-ff5cdcfedf6a">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="0.005859973674654944 -0.020303660261631024 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0.005859973674654944 -0.020303660261631024 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.005859973674654944 -0.020303660261631024 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005859973674654944 -0.020303660261631024 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.005859973674654944 0.020303660261631024 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-3.141592653589793" upper="-2.181661564992912"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100971/mobility_v2.json b/assets/urdf/Switch/100971/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f06945485beaa63b44d35c9658d4771e6f941773
--- /dev/null
+++ b/assets/urdf/Switch/100971/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"knob","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[-0.005859973674654944,0.020303660261631024,0],"direction":[0,0,1]},"limit":{"a":180,"b":125,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100971/model_data.json b/assets/urdf/Switch/100971/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d2ce3036fbbce32fdf65d298f89e54b939084ed
--- /dev/null
+++ b/assets/urdf/Switch/100971/model_data.json
@@ -0,0 +1,65 @@
+{
+    "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": {
+        "button_left": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        0.9659299850463867,
+                        0.2588199973106384,
+                        -0.0579800009727478
+                    ],
+                    [
+                        0.0,
+                        0.2588199973106384,
+                        -0.9659299850463867,
+                        0.6089900135993958
+                    ],
+                    [
+                        -1.0,
+                        -0.0,
+                        -0.0,
+                        -0.25
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100971/result.json b/assets/urdf/Switch/100971/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc78b8d622762924323728e819a4548c1c572f66
--- /dev/null
+++ b/assets/urdf/Switch/100971/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-3", "original-4"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-2", "original-8", "original-9", "original-5", "original-6", "original-11", "original-12", "original-7", "original-1", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100971/result_original.json b/assets/urdf/Switch/100971/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..f744576a011a5f893320ffd6dc36cf73b3d58d3e
--- /dev/null
+++ b/assets/urdf/Switch/100971/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-3", "original-4"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100971/semantics.txt b/assets/urdf/Switch/100971/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..af0b6782029d48e4bc7e007cbbdc26aa88a7420f
--- /dev/null
+++ b/assets/urdf/Switch/100971/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge knob
+link_1 static switch_frame
diff --git a/assets/urdf/Switch/100974/bounding_box.json b/assets/urdf/Switch/100974/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..46812927d1f31b5ace9d50b49efcbaa6e84ce48d
--- /dev/null
+++ b/assets/urdf/Switch/100974/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.795443, -0.897, -2.315715], "max": [2.992348, 0.529288, 0.43218]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100974/grasp_poses.json b/assets/urdf/Switch/100974/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f61632c08e12db7a9ca92fcdeaa6697d86b5c35f
--- /dev/null
+++ b/assets/urdf/Switch/100974/grasp_poses.json
@@ -0,0 +1,105 @@
+{
+    "object_name": "100974",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button_left": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.17170000076293945,
+                        0.07823999971151352,
+                        0.9820399880409241,
+                        -0.5270799994468689
+                    ],
+                    [
+                        -0.9848999977111816,
+                        0.008559999987483025,
+                        -0.17288999259471893,
+                        0.363070011138916
+                    ],
+                    [
+                        -0.021929999813437462,
+                        -0.9969000220298767,
+                        0.07558999955654144,
+                        0.015809999778866768
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "button": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.11683999747037888,
+                        0.05861999839544296,
+                        0.9914199709892273,
+                        -0.5842800140380859
+                    ],
+                    [
+                        -0.9907199740409851,
+                        0.0629199966788292,
+                        -0.1204800009727478,
+                        0.015320000238716602
+                    ],
+                    [
+                        -0.0694499984383583,
+                        -0.9962999820709229,
+                        0.05071999877691269,
+                        0.029759999364614487
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "button_right": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.5
+                    ],
+                    [
+                        -1.0,
+                        -0.0,
+                        -0.0,
+                        -0.5
+                    ],
+                    [
+                        0.0,
+                        -1.0,
+                        -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/Switch/100974/meta.json b/assets/urdf/Switch/100974/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6921fa19bf9c367848b1c19ad9bda51dc77b187c
--- /dev/null
+++ b/assets/urdf/Switch/100974/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "u1497f178-4477-4b13-8705-abd3b45750b9", "version": "2", "anno_id": "974", "time_in_sec": "420"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100974/mobility.urdf b/assets/urdf/Switch/100974/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5c84ce5fc8bad0978acb7bf70e7c89276b8977f3
--- /dev/null
+++ b/assets/urdf/Switch/100974/mobility.urdf
@@ -0,0 +1,734 @@
+<?xml version="1.0" ?>
+<robot name="partnet_u1497f178-4477-4b13-8705-abd3b45750b9">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.015257626316363678 0.268524117906652"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="-0.0" upper="1.3439035240356336"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-2">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
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+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
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+		<collision>
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+			<geometry>
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+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
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+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
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+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
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+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0 -0.015257626316363678 0.268524117906652"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+		<limit lower="-0.0" upper="1.3439035240356336"/>
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+	<link name="link_2">
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+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
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+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
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+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
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+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
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+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
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+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
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+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
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+		</visual>
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+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
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+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
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+		</visual>
+		<visual name="switch-3">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-3">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-3">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-3">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-3">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-3">
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.015257626316363678 -0.268524117906652"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="0 -0.015257626316363678 0.268524117906652"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+		<limit lower="-0.0" upper="1.3439035240356336"/>
+	</joint>
+	<link name="link_3">
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100974/mobility_v2.json b/assets/urdf/Switch/100974/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..52778020b0da4b1cf04f98c2526d43b2852f019c
--- /dev/null
+++ b/assets/urdf/Switch/100974/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":3,"joint":"hinge","name":"lever","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,-0.015257626316363678,0.268524117906652],"direction":[1,0,0]},"limit":{"a":0,"b":-77,"noLimit":false}}},{"id":1,"parent":3,"joint":"hinge","name":"lever","parts":[{"id":2,"name":"switch"}],"jointData":{"axis":{"origin":[0,-0.015257626316363678,0.268524117906652],"direction":[1,0,0]},"limit":{"a":0,"b":-77,"noLimit":false}}},{"id":2,"parent":3,"joint":"hinge","name":"lever","parts":[{"id":3,"name":"switch"}],"jointData":{"axis":{"origin":[0,-0.015257626316363678,0.268524117906652],"direction":[1,0,0]},"limit":{"a":0,"b":-77,"noLimit":false}}},{"id":3,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":4,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100974/model_data.json b/assets/urdf/Switch/100974/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bfe842f0107ffde3fb496fb4dcabdd2b16bf305
--- /dev/null
+++ b/assets/urdf/Switch/100974/model_data.json
@@ -0,0 +1,131 @@
+{
+    "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": {
+        "button_left": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.17170000076293945,
+                        0.07823999971151352,
+                        0.9820399880409241,
+                        -0.5270799994468689
+                    ],
+                    [
+                        -0.9848999977111816,
+                        0.008559999987483025,
+                        -0.17288999259471893,
+                        0.363070011138916
+                    ],
+                    [
+                        -0.021929999813437462,
+                        -0.9969000220298767,
+                        0.07558999955654144,
+                        0.015809999778866768
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "button": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.11683999747037888,
+                        0.05861999839544296,
+                        0.9914199709892273,
+                        -0.5842800140380859
+                    ],
+                    [
+                        -0.9907199740409851,
+                        0.0629199966788292,
+                        -0.1204800009727478,
+                        0.015320000238716602
+                    ],
+                    [
+                        -0.0694499984383583,
+                        -0.9962999820709229,
+                        0.05071999877691269,
+                        0.029759999364614487
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ],
+        "button_right": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.5
+                    ],
+                    [
+                        -1.0,
+                        -0.0,
+                        -0.0,
+                        -0.5
+                    ],
+                    [
+                        0.0,
+                        -1.0,
+                        -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/Switch/100974/result.json b/assets/urdf/Switch/100974/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac9cf48557ac3f6e549c241cd5b0a56fe4adc317
--- /dev/null
+++ b/assets/urdf/Switch/100974/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-39", "original-42", "original-40", "original-41", "original-45", "original-31", "original-46", "original-44", "original-37", "original-36", "original-34", "original-35", "original-30", "original-32", "original-33"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-12", "original-22", "original-23", "original-24", "original-21", "original-14", "original-27", "original-13", "original-26", "original-17", "original-19", "original-16", "original-18", "original-15", "original-28"]}, {"text": "switch", "name": "switch", "id": 3, "objs": ["original-48", "original-62", "original-63", "original-64", "original-58", "original-57", "original-59", "original-49", "original-60", "original-50", "original-55", "original-52", "original-53", "original-54", "original-51"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-4", "original-3", "original-2", "original-8", "original-9", "original-5", "original-6", "original-66", "original-67", "original-68", "original-7", "original-1", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100974/result_original.json b/assets/urdf/Switch/100974/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f6336beaf6b1dfe2a0456b040277fdc4ef1ed8e
--- /dev/null
+++ b/assets/urdf/Switch/100974/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-39", "original-42", "original-40", "original-41", "original-45", "original-31", "original-46", "original-44", "original-37", "original-36", "original-34", "original-35", "original-30", "original-32", "original-33"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-12", "original-22", "original-23", "original-24", "original-21", "original-14", "original-27", "original-13", "original-26", "original-17", "original-19", "original-16", "original-18", "original-15", "original-28"]}, {"id": 3, "name": "switch", "text": "switch", "objs": ["original-48", "original-62", "original-63", "original-64", "original-58", "original-57", "original-59", "original-49", "original-60", "original-50", "original-55", "original-52", "original-53", "original-54", "original-51"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100974/semantics.txt b/assets/urdf/Switch/100974/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6d33329bd1b1732daca2b2c4982f9f44bf5f2b91
--- /dev/null
+++ b/assets/urdf/Switch/100974/semantics.txt
@@ -0,0 +1,4 @@
+link_0 hinge lever
+link_1 hinge lever
+link_2 hinge lever
+link_3 static switch_frame
diff --git a/assets/urdf/Switch/100974/textured_objs/original-1.obj b/assets/urdf/Switch/100974/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c544089ec6c90013f8b8b1a8db2e57d55a387389
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-1.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID232
+v 0.755291 0.421097 -0.418753
+v -0.687252 -0.444429 -0.418753
+v -0.687252 0.421097 -0.418753
+v 0.755291 -0.444429 -0.418753
+v 0.755291 -0.444429 0.230392
+v -0.687252 -0.444429 -0.418753
+v 0.755291 -0.444429 -0.418753
+v -0.687252 -0.444429 0.230392
+v -0.687252 0.421097 0.230392
+v -0.687252 -0.444429 -0.418753
+v -0.687252 -0.444429 0.230392
+v -0.687252 0.421097 -0.418753
+v -0.687252 0.421097 0.230392
+v 0.755291 0.421097 -0.418753
+v -0.687252 0.421097 -0.418753
+v 0.755291 0.421097 0.230392
+v 0.755291 0.421097 -0.418753
+v 0.755291 -0.444429 0.230392
+v 0.755291 -0.444429 -0.418753
+v 0.755291 0.421097 0.230392
+vn 0 0 -1
+vn 0 -1 0
+vn -1 0 0
+vn 0 1 0
+vn 1 0 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 6//2 7//2
+f 6//2 5//2 8//2
+f 9//3 10//3 11//3
+f 10//3 9//3 12//3
+f 13//4 14//4 15//4
+f 14//4 13//4 16//4
+f 17//5 18//5 19//5
+f 18//5 17//5 20//5
diff --git a/assets/urdf/Switch/100974/textured_objs/original-10.mtl b/assets/urdf/Switch/100974/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..553f1085648c88bcc342d6bfae6dd8c4ff2746e5
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.8941176470588236 0.6 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100974/textured_objs/original-10.obj b/assets/urdf/Switch/100974/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4406194b3a674a305e7f3e5fb8c1dd606f409e45
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-10.obj
@@ -0,0 +1,50 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID288
+v 0.412687 -0.134282 0.356614
+v 0.427112 -0.119857 0.356614
+v 0.412687 0.110950 0.356614
+v 0.556941 -0.134282 0.356614
+v 0.542516 -0.119857 0.356614
+v 0.542516 0.096525 0.356614
+v 0.427112 0.096525 0.356614
+v 0.556941 0.110950 0.356614
+v 0.556941 0.110950 0.338583
+v 0.556941 -0.134282 0.356614
+v 0.556941 -0.134282 0.338583
+v 0.556941 0.110950 0.356614
+v 0.412687 0.110950 0.356614
+v 0.556941 0.110950 0.338583
+v 0.412687 0.110950 0.338583
+v 0.556941 0.110950 0.356614
+v 0.412687 0.110950 0.356614
+v 0.412687 -0.134282 0.338583
+v 0.412687 -0.134282 0.356614
+v 0.412687 0.110950 0.338583
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-2.obj b/assets/urdf/Switch/100974/textured_objs/original-2.obj
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index 0000000000000000000000000000000000000000..c33b046e819e6906897f29c527fc9f4d43a674b8
--- /dev/null
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-28.mtl b/assets/urdf/Switch/100974/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-28.mtl
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-28.obj b/assets/urdf/Switch/100974/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63ffcccec5b5083aabf019f7d5d02350d4333e3d
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-28.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-30.mtl b/assets/urdf/Switch/100974/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0f2220a41888d841eb7c73ae184b0f2e8455aa80
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-30.obj b/assets/urdf/Switch/100974/textured_objs/original-30.obj
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index 0000000000000000000000000000000000000000..a6c826cb56d0871b87f0979e6ce59174c6119b3f
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index 0000000000000000000000000000000000000000..0f2220a41888d841eb7c73ae184b0f2e8455aa80
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-31.obj b/assets/urdf/Switch/100974/textured_objs/original-31.obj
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index 0000000000000000000000000000000000000000..9ccd5e89be023402a38db46c9c8c61a7566b4f2b
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-37.obj b/assets/urdf/Switch/100974/textured_objs/original-37.obj
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index 0000000000000000000000000000000000000000..0983683451b464e5913fa8e2c348325d3be8de7a
--- /dev/null
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-39.obj b/assets/urdf/Switch/100974/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65928f821bce98eeed34140ac1fea8405155844a
--- /dev/null
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-4.mtl b/assets/urdf/Switch/100974/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-4.obj b/assets/urdf/Switch/100974/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d44be89d2ece99f2383b6620364646b70b8eb0f
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-4.obj
@@ -0,0 +1,49 @@
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-40.mtl b/assets/urdf/Switch/100974/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-40.obj b/assets/urdf/Switch/100974/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b06d2f93f1a833e2c05a30593e9c443ff5f67e27
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-40.obj
@@ -0,0 +1,203 @@
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+mtllib original-40.mtl
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-41.mtl b/assets/urdf/Switch/100974/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-41.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-44.mtl b/assets/urdf/Switch/100974/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-44.obj b/assets/urdf/Switch/100974/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d45a349f614df1ffa4de716ff37c5d52193971be
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-44.obj
@@ -0,0 +1,207 @@
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-46.obj b/assets/urdf/Switch/100974/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50cdff589415eb9b200a7cb4bf99e36c63a4ccee
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-46.obj
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-48.obj b/assets/urdf/Switch/100974/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcefdef66533e76b1f8a997fa4dd1c602eaa6684
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-5.obj b/assets/urdf/Switch/100974/textured_objs/original-5.obj
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--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-5.obj
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--- /dev/null
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--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-51.obj
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--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-53.obj
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-63.obj b/assets/urdf/Switch/100974/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d625cba3d00224d6a3d6717aa654dabd80d5a5df
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-63.obj
@@ -0,0 +1,967 @@
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-64.mtl b/assets/urdf/Switch/100974/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-64.mtl
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-68.mtl b/assets/urdf/Switch/100974/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-68.mtl
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+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100974/textured_objs/original-7.mtl b/assets/urdf/Switch/100974/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..553f1085648c88bcc342d6bfae6dd8c4ff2746e5
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Switch/100974/textured_objs/original-7.obj b/assets/urdf/Switch/100974/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ba1e369fe3c54654bccdf28c8ade899b58d03b
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-7.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o #ID270
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-8.mtl b/assets/urdf/Switch/100974/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..553f1085648c88bcc342d6bfae6dd8c4ff2746e5
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-8.mtl
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+newmtl material_0_0
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-8.obj b/assets/urdf/Switch/100974/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55110984b60189934120d9f0fb6ef0a4898d9adf
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-8.obj
@@ -0,0 +1,50 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o #ID276
+v -0.488903 -0.134282 0.356614
+v -0.474477 -0.119857 0.356614
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diff --git a/assets/urdf/Switch/100974/textured_objs/original-9.obj b/assets/urdf/Switch/100974/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6177e32006ac51a830923fd01294138c15e0629
--- /dev/null
+++ b/assets/urdf/Switch/100974/textured_objs/original-9.obj
@@ -0,0 +1,50 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o #ID282
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diff --git a/assets/urdf/Switch/100976/bounding_box.json b/assets/urdf/Switch/100976/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb9fb5df570e8853e89c405e9eeb614a3b583475
--- /dev/null
+++ b/assets/urdf/Switch/100976/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.721603, -0.710162, -0.104239], "max": [0.691742, 0.703183, 0.141919]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100976/grasp_poses.json b/assets/urdf/Switch/100976/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..117a7757d5b89968a916f4ca49bba877ebe416c1
--- /dev/null
+++ b/assets/urdf/Switch/100976/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "100976",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button_up": [
+            {
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+                "matrix": [
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+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
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+                ],
+                "base": "base",
+                "description": ""
+            },
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+                "matrix": [
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+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100976/meta.json b/assets/urdf/Switch/100976/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1796a62d3f29e040bc3989c9afe2cc3f8856a3c
--- /dev/null
+++ b/assets/urdf/Switch/100976/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "u3cb90e37-54e9-40fb-97d8-2586632ee264", "version": "1", "anno_id": "976", "time_in_sec": "17"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100976/mobility.urdf b/assets/urdf/Switch/100976/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cd1c6ad31f7699d707e7765b9bd246d239f9f22a
--- /dev/null
+++ b/assets/urdf/Switch/100976/mobility.urdf
@@ -0,0 +1,137 @@
+<?xml version="1.0" ?>
+<robot name="partnet_u3cb90e37-54e9-40fb-97d8-2586632ee264">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="-0.5150739999999989 0.02268015992886683 -0.06844495494411659"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5150739999999989 0.02268015992886683 -0.06844495494411659"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.5150739999999989 -0.02268015992886683 0.06844495494411659"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="-0.06981317007977318" upper="0.06981317007977318"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-2">
+			<origin xyz="-0.5150739999999989 0.02268015992886683 -0.06844495494411659"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5150739999999989 0.02268015992886683 -0.06844495494411659"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.5150739999999989 -0.02268015992886683 0.06844495494411659"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.06981317007977318" upper="0.06981317007977318"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100976/mobility_v2.json b/assets/urdf/Switch/100976/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..40d2579583bf2051cb8adfba6228d3048a72f6e7
--- /dev/null
+++ b/assets/urdf/Switch/100976/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0.5150739999999989,-0.02268015992886683,0.06844495494411659],"direction":[1,0,0]},"limit":{"a":4,"b":-4,"noLimit":false}}},{"id":1,"parent":2,"joint":"hinge","name":"toggle_button","parts":[{"id":2,"name":"switch"}],"jointData":{"axis":{"origin":[0.5150739999999989,-0.02268015992886683,0.06844495494411659],"direction":[1,0,0]},"limit":{"a":4,"b":-4,"noLimit":false}}},{"id":2,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":3,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100976/model_data.json b/assets/urdf/Switch/100976/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d365861dfb50ff6578af5d56e3a50dcf9a2d3b0e
--- /dev/null
+++ b/assets/urdf/Switch/100976/model_data.json
@@ -0,0 +1,96 @@
+{
+    "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": {
+        "button_up": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.08715999871492386,
+                        -0.0,
+                        0.9961900115013123,
+                        -0.46636998653411865
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -1.125
+                    ],
+                    [
+                        -0.9961900115013123,
+                        0.0,
+                        -0.08715999871492386,
+                        0.39535999298095703
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.17298999428749084,
+                        -0.08715999871492386,
+                        0.9810600280761719,
+                        -0.38032999634742737
+                    ],
+                    [
+                        -0.9848099946975708,
+                        -0.0,
+                        -0.17364999651908875,
+                        0.37310001254081726
+                    ],
+                    [
+                        0.015130000188946724,
+                        -0.9961900115013123,
+                        -0.08583000302314758,
+                        1.1188299655914307
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100976/result.json b/assets/urdf/Switch/100976/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..394869ca417e1d53f323fac4f0871bd42c45be93
--- /dev/null
+++ b/assets/urdf/Switch/100976/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-10"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-9"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-3", "original-2", "original-5", "original-6", "original-7", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100976/result_original.json b/assets/urdf/Switch/100976/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cd532a73fd9d1ccc44c449ff62a65db1d06e1ea
--- /dev/null
+++ b/assets/urdf/Switch/100976/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-10"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-9"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100976/semantics.txt b/assets/urdf/Switch/100976/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e351418db05ce4eae8d538e30ba6c7d26202b851
--- /dev/null
+++ b/assets/urdf/Switch/100976/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge toggle_button
+link_1 hinge toggle_button
+link_2 static switch_frame
diff --git a/assets/urdf/Switch/100979/bounding_box.json b/assets/urdf/Switch/100979/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..0312b1033f6eb0043a4eea2602c92fce286e7b88
--- /dev/null
+++ b/assets/urdf/Switch/100979/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.659621, -0.713549, -0.123435], "max": [0.730443, 0.676515, 0.126776]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100979/grasp_poses.json b/assets/urdf/Switch/100979/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..494a912a535a183c7d16c1dec855a21fff6fac63
--- /dev/null
+++ b/assets/urdf/Switch/100979/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "100979",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button_down": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.49810001254081726
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.75
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        -0.16857999563217163
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100979/meta.json b/assets/urdf/Switch/100979/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09ed7172a89a0cfcaac3c6236ecbeb5bc6ca72cd
--- /dev/null
+++ b/assets/urdf/Switch/100979/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "uad4c133a-7639-49df-857e-a13874d5b4c7", "version": "1", "anno_id": "979", "time_in_sec": "8"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100979/mobility.urdf b/assets/urdf/Switch/100979/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0b21ac357c78e4086832b921b4238c6b74b03bf2
--- /dev/null
+++ b/assets/urdf/Switch/100979/mobility.urdf
@@ -0,0 +1,140 @@
+<?xml version="1.0" ?>
+<robot name="partnet_uad4c133a-7639-49df-857e-a13874d5b4c7">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="-0.3729980000000004 0.016618608113665945 -0.06561515301250509"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3729980000000004 0.016618608113665945 -0.06561515301250509"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.3729980000000004 -0.016618608113665945 0.06561515301250509"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="0.3141592653589793"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100979/mobility_v2.json b/assets/urdf/Switch/100979/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..268cfcd864ec4d5f7c49f932a0168b2a177f123c
--- /dev/null
+++ b/assets/urdf/Switch/100979/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0.3729980000000004,-0.016618608113665945,0.06561515301250509],"direction":[1,0,0]},"limit":{"a":0,"b":18,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100979/model_data.json b/assets/urdf/Switch/100979/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aa351e4e86aac452d1783e7291a9112e7d4f526
--- /dev/null
+++ b/assets/urdf/Switch/100979/model_data.json
@@ -0,0 +1,65 @@
+{
+    "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": {
+        "button_down": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.49810001254081726
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.75
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        -0.16857999563217163
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100979/result.json b/assets/urdf/Switch/100979/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..891804f21db2a17faa8345c9e43e8826a5a5e464
--- /dev/null
+++ b/assets/urdf/Switch/100979/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-12"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-2", "original-8", "original-9", "original-5", "original-6", "original-11", "original-7"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100979/result_original.json b/assets/urdf/Switch/100979/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..d38ff5b61be3014abbe32c9e515bc40dc536104f
--- /dev/null
+++ b/assets/urdf/Switch/100979/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-12"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100979/semantics.txt b/assets/urdf/Switch/100979/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eef75a31952181dcb3a637c11050ae9bcd0ad1bf
--- /dev/null
+++ b/assets/urdf/Switch/100979/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge toggle_button
+link_1 static switch_frame
diff --git a/assets/urdf/Switch/100981/bounding_box.json b/assets/urdf/Switch/100981/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba47675ad17dc3b2f5e0c3ea044486d99789d8ef
--- /dev/null
+++ b/assets/urdf/Switch/100981/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.695124, -0.685764, -0.064189], "max": [0.7349, 0.684676, 0.113373]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100981/grasp_poses.json b/assets/urdf/Switch/100981/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a91a4ebcd1aa61347b73473a7ca45586345764a
--- /dev/null
+++ b/assets/urdf/Switch/100981/grasp_poses.json
@@ -0,0 +1,39 @@
+{
+    "object_name": "100981",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button_down": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.5
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.75
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100981/meta.json b/assets/urdf/Switch/100981/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0272fd0c5eb1c39c443786662e2235959327b06e
--- /dev/null
+++ b/assets/urdf/Switch/100981/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "ufb22f8e5-d6e4-45bb-b676-b70b39b60acd", "version": "2", "anno_id": "981", "time_in_sec": "48"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100981/mobility.urdf b/assets/urdf/Switch/100981/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..274a02b35da0d3a2ce285b722b5543815c06eacf
--- /dev/null
+++ b/assets/urdf/Switch/100981/mobility.urdf
@@ -0,0 +1,140 @@
+<?xml version="1.0" ?>
+<robot name="partnet_ufb22f8e5-d6e4-45bb-b676-b70b39b60acd">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="0 -0.29737800000000003 -0.05498314284246396"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-1">
+			<origin xyz="0 -0.29737800000000003 -0.05498314284246396"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.29737800000000003 -0.05498314284246396"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.29737800000000003 -0.05498314284246396"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.29737800000000003 0.05498314284246396"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="0.2792526803190927"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/100981/mobility_v2.json b/assets/urdf/Switch/100981/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e130827121d91bfa18fa76a27ceb39558373182d
--- /dev/null
+++ b/assets/urdf/Switch/100981/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"toggle_button","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0.29737800000000003,0.05498314284246396],"direction":[1,0,0]},"limit":{"a":0,"b":16,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100981/model_data.json b/assets/urdf/Switch/100981/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..36006908f301cabe85810473bc87f213ade05333
--- /dev/null
+++ b/assets/urdf/Switch/100981/model_data.json
@@ -0,0 +1,65 @@
+{
+    "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": {
+        "button_down": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.5
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.75
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/100981/result.json b/assets/urdf/Switch/100981/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..7204f361a3c9f0a237280a98e68e7d92eb0a08f5
--- /dev/null
+++ b/assets/urdf/Switch/100981/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-4", "original-3"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-2", "original-8", "original-9", "original-5", "original-6", "original-7", "original-1", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100981/result_original.json b/assets/urdf/Switch/100981/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..158fab1f38bcc0972f5c4047104956ef6fccc421
--- /dev/null
+++ b/assets/urdf/Switch/100981/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-4", "original-3"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/100981/semantics.txt b/assets/urdf/Switch/100981/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eef75a31952181dcb3a637c11050ae9bcd0ad1bf
--- /dev/null
+++ b/assets/urdf/Switch/100981/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge toggle_button
+link_1 static switch_frame
diff --git a/assets/urdf/Switch/102839/bounding_box.json b/assets/urdf/Switch/102839/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec9ffb8dd66c186edf094a5f2d2ae0c02e7cb80f
--- /dev/null
+++ b/assets/urdf/Switch/102839/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.802946, -0.5006, -0.585306], "max": [0.829204, 0.494369, 0.439813]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/102839/grasp_poses.json b/assets/urdf/Switch/102839/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed7d5d34b48a011271478dc8bfb642cbc48524e2
--- /dev/null
+++ b/assets/urdf/Switch/102839/grasp_poses.json
@@ -0,0 +1,101 @@
+{
+    "object_name": "102839",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.0,
+                        0.0,
+                        1.0,
+                        -0.5
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        0.0,
+                        -0.375
+                    ],
+                    [
+                        0.0,
+                        -1.0,
+                        0.0,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.0,
+                        0.0,
+                        1.0,
+                        -0.5
+                    ],
+                    [
+                        1.0,
+                        0.0,
+                        0.0,
+                        0.125
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.5
+                    ],
+                    [
+                        -1.0,
+                        -0.0,
+                        -0.0,
+                        0.625
+                    ],
+                    [
+                        0.0,
+                        -1.0,
+                        -0.0,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/102839/meta.json b/assets/urdf/Switch/102839/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e87be7b12b21fcc01cc009c5a235607ba6dbe50
--- /dev/null
+++ b/assets/urdf/Switch/102839/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "62ce761dcaf0ce67d6870a66e08dc8f0", "version": "1", "anno_id": "2839", "time_in_sec": "85"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/102839/mobility.urdf b/assets/urdf/Switch/102839/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..94146f4169f61dbc46818e24455b1347a8d316b0
--- /dev/null
+++ b/assets/urdf/Switch/102839/mobility.urdf
@@ -0,0 +1,533 @@
+<?xml version="1.0" ?>
+<robot name="partnet_62ce761dcaf0ce67d6870a66e08dc8f0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_6"/>
+		<limit lower="0" upper="0.19600000000000017"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_6"/>
+		<limit lower="0" upper="0.19600000000000017"/>
+	</joint>
+	<link name="link_2">
+		<visual name="switch-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_2"/>
+		<parent link="link_6"/>
+		<limit lower="0" upper="0.19600000000000017"/>
+	</joint>
+	<link name="link_3">
+		<visual name="switch-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_3"/>
+		<parent link="link_6"/>
+		<limit lower="0" upper="0.19600000000000017"/>
+	</joint>
+	<link name="link_4">
+		<visual name="switch-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_6"/>
+		<limit lower="0" upper="0.19600000000000017"/>
+	</joint>
+	<link name="link_5">
+		<visual name="switch-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_5"/>
+		<parent link="link_6"/>
+		<limit lower="0" upper="0.19600000000000017"/>
+	</joint>
+	<link name="link_6">
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_6"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/102839/mobility_v2.json b/assets/urdf/Switch/102839/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8ab5ce10bc4f17fecb964cbeea4d4275bd91724
--- /dev/null
+++ b/assets/urdf/Switch/102839/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":6,"joint":"slider","name":"slider","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.19600000000000017,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":6,"joint":"slider","name":"slider","parts":[{"id":2,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.19600000000000017,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":6,"joint":"slider","name":"slider","parts":[{"id":3,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.19600000000000017,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":6,"joint":"slider","name":"slider","parts":[{"id":4,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.19600000000000017,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":4,"parent":6,"joint":"slider","name":"slider","parts":[{"id":5,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.19600000000000017,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":5,"parent":6,"joint":"slider","name":"slider","parts":[{"id":6,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.19600000000000017,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":6,"parent":-1,"joint":"static","name":"base_body","parts":[{"id":7,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/102839/model_data.json b/assets/urdf/Switch/102839/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb9586899a6682451f9920063df8ca78b4f19477
--- /dev/null
+++ b/assets/urdf/Switch/102839/model_data.json
@@ -0,0 +1,127 @@
+{
+    "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": {
+        "button": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.0,
+                        0.0,
+                        1.0,
+                        -0.5
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        0.0,
+                        -0.375
+                    ],
+                    [
+                        0.0,
+                        -1.0,
+                        0.0,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        0.0,
+                        0.0,
+                        1.0,
+                        -0.5
+                    ],
+                    [
+                        1.0,
+                        0.0,
+                        0.0,
+                        0.125
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.5
+                    ],
+                    [
+                        -1.0,
+                        -0.0,
+                        -0.0,
+                        0.625
+                    ],
+                    [
+                        0.0,
+                        -1.0,
+                        -0.0,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/102839/result.json b/assets/urdf/Switch/102839/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f29b2202c32ddfba5fb651906cf124f1b02da51
--- /dev/null
+++ b/assets/urdf/Switch/102839/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-38"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-40"]}, {"text": "switch", "name": "switch", "id": 3, "objs": ["original-41"]}, {"text": "switch", "name": "switch", "id": 4, "objs": ["original-39"]}, {"text": "switch", "name": "switch", "id": 5, "objs": ["original-37"]}, {"text": "switch", "name": "switch", "id": 6, "objs": ["original-36"]}, {"text": "base_body", "name": "base_body", "id": 7, "objs": ["original-29", "original-21", "original-30", "original-28", "original-22", "original-26", "original-4", "original-3", "original-33", "original-16", "original-8", "original-13", "original-9", "original-35", "original-5", "original-27", "original-6", "original-31", "original-15", "original-23", "original-11", "original-34", "original-18", "original-25", "original-17", "original-12", "original-24", "original-20", "original-32", "original-7", "original-1", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/102839/result_original.json b/assets/urdf/Switch/102839/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..a63a0f19ea05a472d97aa564d1a53250375ec57c
--- /dev/null
+++ b/assets/urdf/Switch/102839/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-38"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-40"]}, {"id": 3, "name": "switch", "text": "switch", "objs": ["original-41"]}, {"id": 4, "name": "switch", "text": "switch", "objs": ["original-39"]}, {"id": 5, "name": "switch", "text": "switch", "objs": ["original-37"]}, {"id": 6, "name": "switch", "text": "switch", "objs": ["original-36"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/102839/semantics.txt b/assets/urdf/Switch/102839/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2061502cd24bec13b0c28b60a77c2b5356543173
--- /dev/null
+++ b/assets/urdf/Switch/102839/semantics.txt
@@ -0,0 +1,7 @@
+link_0 slider slider
+link_1 slider slider
+link_2 slider slider
+link_3 slider slider
+link_4 slider slider
+link_5 slider slider
+link_6 static switch_frame
diff --git a/assets/urdf/Switch/102856/bounding_box.json b/assets/urdf/Switch/102856/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..a63a326523cf1902ebd83ca109653881e535efb8
--- /dev/null
+++ b/assets/urdf/Switch/102856/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.88522, -0.40942, -0.484228], "max": [0.876431, 0.408608, 0.358588]}
\ No newline at end of file
diff --git a/assets/urdf/Switch/102856/grasp_poses.json b/assets/urdf/Switch/102856/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..272506c79a6656cba4721cea58c4bb6863b0d2d9
--- /dev/null
+++ b/assets/urdf/Switch/102856/grasp_poses.json
@@ -0,0 +1,132 @@
+{
+    "object_name": "102856",
+    "scale": 0.08,
+    "grasp_parts": {
+        "button": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.375
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.75
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        -0.0,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.375
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.25
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        -0.007600000128149986,
+                        -0.00033000000985339284,
+                        0.999970018863678,
+                        -0.37602001428604126
+                    ],
+                    [
+                        -0.999970018863678,
+                        -0.00033000000985339284,
+                        -0.007600000128149986,
+                        -0.13067999482154846
+                    ],
+                    [
+                        0.00033000000985339284,
+                        -1.0,
+                        -0.00033000000985339284,
+                        -0.05477999895811081
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 3,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.375
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        -0.625
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        -0.0,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/102856/meta.json b/assets/urdf/Switch/102856/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4774cf6fdb19fef7888c9fdbc6caff55df4b6711
--- /dev/null
+++ b/assets/urdf/Switch/102856/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Switch", "model_id": "9859d3ad33ac2fcdd6870a66e08dc8f0", "version": "1", "anno_id": "2856", "time_in_sec": "16"}
\ No newline at end of file
diff --git a/assets/urdf/Switch/102856/mobility.urdf b/assets/urdf/Switch/102856/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6ef6d3fa4eaf21ab919eb4967ef8aa421cec1c9e
--- /dev/null
+++ b/assets/urdf/Switch/102856/mobility.urdf
@@ -0,0 +1,695 @@
+<?xml version="1.0" ?>
+<robot name="partnet_9859d3ad33ac2fcdd6870a66e08dc8f0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.15600000000000014"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.15600000000000014"/>
+	</joint>
+	<link name="link_2">
+		<visual name="switch-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_2"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.15600000000000014"/>
+	</joint>
+	<link name="link_3">
+		<visual name="switch-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_3"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.15600000000000014"/>
+	</joint>
+	<link name="link_4">
+		<visual name="switch-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.15600000000000014"/>
+	</joint>
+	<link name="link_5">
+		<visual name="switch-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_5"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.15600000000000014"/>
+	</joint>
+	<link name="link_6">
+		<visual name="switch-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_6"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.15600000000000014"/>
+	</joint>
+	<link name="link_7">
+		<visual name="switch-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_7"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.15600000000000014"/>
+	</joint>
+	<link name="link_8">
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_8"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Switch/102856/mobility_v2.json b/assets/urdf/Switch/102856/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaebc494feee2ff011dbcb76b73ce301f7a7b1b2
--- /dev/null
+++ b/assets/urdf/Switch/102856/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":8,"joint":"slider","name":"slider","parts":[{"id":1,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.15600000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":8,"joint":"slider","name":"slider","parts":[{"id":2,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.15600000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":8,"joint":"slider","name":"slider","parts":[{"id":3,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.15600000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":8,"joint":"slider","name":"slider","parts":[{"id":4,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.15600000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":4,"parent":8,"joint":"slider","name":"slider","parts":[{"id":5,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.15600000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":5,"parent":8,"joint":"slider","name":"slider","parts":[{"id":6,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.15600000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":6,"parent":8,"joint":"slider","name":"slider","parts":[{"id":7,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.15600000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":7,"parent":8,"joint":"slider","name":"slider","parts":[{"id":8,"name":"switch"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.15600000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":8,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":9,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/102856/model_data.json b/assets/urdf/Switch/102856/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..0117693689e640272ad132b5f6aae39fd9f1ab3d
--- /dev/null
+++ b/assets/urdf/Switch/102856/model_data.json
@@ -0,0 +1,158 @@
+{
+    "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": {
+        "button": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.375
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.75
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        -0.0,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.375
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.25
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        -0.0,
+                        0.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        -0.007600000128149986,
+                        -0.00033000000985339284,
+                        0.999970018863678,
+                        -0.37602001428604126
+                    ],
+                    [
+                        -0.999970018863678,
+                        -0.00033000000985339284,
+                        -0.007600000128149986,
+                        -0.13067999482154846
+                    ],
+                    [
+                        0.00033000000985339284,
+                        -1.0,
+                        -0.00033000000985339284,
+                        -0.05477999895811081
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 3,
+                "matrix": [
+                    [
+                        -0.0,
+                        -0.0,
+                        1.0,
+                        -0.375
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        -0.625
+                    ],
+                    [
+                        -0.0,
+                        -1.0,
+                        -0.0,
+                        -0.125
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Switch/102856/result.json b/assets/urdf/Switch/102856/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..99d03c49f5e45ce0ee50e9d1dfb084b3402facba
--- /dev/null
+++ b/assets/urdf/Switch/102856/result.json
@@ -0,0 +1 @@
+[{"text": "Switch", "name": "Switch", "id": 0, "children": [{"text": "switch", "name": "switch", "id": 1, "objs": ["original-48"]}, {"text": "switch", "name": "switch", "id": 2, "objs": ["original-50"]}, {"text": "switch", "name": "switch", "id": 3, "objs": ["original-52"]}, {"text": "switch", "name": "switch", "id": 4, "objs": ["original-53"]}, {"text": "switch", "name": "switch", "id": 5, "objs": ["original-51"]}, {"text": "switch", "name": "switch", "id": 6, "objs": ["original-49"]}, {"text": "switch", "name": "switch", "id": 7, "objs": ["original-47"]}, {"text": "switch", "name": "switch", "id": 8, "objs": ["original-46"]}, {"text": "base_body", "name": "base_body", "id": 9, "objs": ["original-29", "original-21", "original-30", "original-36", "original-41", "original-28", "original-43", "original-22", "original-26", "original-4", "original-3", "original-33", "original-44", "original-16", "original-8", "original-13", "original-9", "original-45", "original-35", "original-39", "original-5", "original-27", "original-6", "original-31", "original-37", "original-15", "original-23", "original-11", "original-38", "original-34", "original-18", "original-25", "original-17", "original-42", "original-24", "original-20", "original-32", "original-7", "original-1", "original-10", "original-14", "original-19", "original-40"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/102856/result_original.json b/assets/urdf/Switch/102856/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..f70cdfca9e8acb1123bf001f54286f20b450af1a
--- /dev/null
+++ b/assets/urdf/Switch/102856/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Switch", "text": "Switch", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-48"]}, {"id": 2, "name": "switch", "text": "switch", "objs": ["original-50"]}, {"id": 3, "name": "switch", "text": "switch", "objs": ["original-52"]}, {"id": 4, "name": "switch", "text": "switch", "objs": ["original-53"]}, {"id": 5, "name": "switch", "text": "switch", "objs": ["original-51"]}, {"id": 6, "name": "switch", "text": "switch", "objs": ["original-49"]}, {"id": 7, "name": "switch", "text": "switch", "objs": ["original-47"]}, {"id": 8, "name": "switch", "text": "switch", "objs": ["original-46"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Switch/102856/semantics.txt b/assets/urdf/Switch/102856/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7b737edfe70554df9d653d55feb11345186a12e9
--- /dev/null
+++ b/assets/urdf/Switch/102856/semantics.txt
@@ -0,0 +1,9 @@
+link_0 slider slider
+link_1 slider slider
+link_2 slider slider
+link_3 slider slider
+link_4 slider slider
+link_5 slider slider
+link_6 slider slider
+link_7 slider slider
+link_8 free switch_frame
diff --git a/tasks/press_part/press_switch_8/trial_0012/trajectory.json b/tasks/press_part/press_switch_8/trial_0012/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1c32e88346b1b360ba1d71bd881a606b6459194
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0012/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 263223,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 263223
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0023/trajectory.json b/tasks/press_part/press_switch_8/trial_0023/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1451cad4c2d7397cb5d378f68f278c322609569
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0023/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 859368,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 859368
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0038/trajectory.json b/tasks/press_part/press_switch_8/trial_0038/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..04b1170f90a23e7a2f6fc9924f3a5c0a62e86086
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0038/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 713790,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 713790
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0055/trajectory.json b/tasks/press_part/press_switch_8/trial_0055/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e9c8a9582fb41be3db9ad2f947dbab6a1cda68e
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0055/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 501700,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 501700
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0074/trajectory.json b/tasks/press_part/press_switch_8/trial_0074/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ef35233d65f5fb2c482c16cb68d052d1cc74b89
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0074/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 713320,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 121,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 713320
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0084/trajectory.json b/tasks/press_part/press_switch_8/trial_0084/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5a9376e07bf40c2970abf37cda32b63e76fac54
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0084/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 514859,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 514859
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0092/trajectory.json b/tasks/press_part/press_switch_8/trial_0092/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..90873cb47d17a665e757858d11fddc70ef2593fe
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0092/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 582883,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 582883
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0097/trajectory.json b/tasks/press_part/press_switch_8/trial_0097/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..acd8a8ee3d8259621f2404eed89a1946c0443ebe
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0097/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 517124,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 517124
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0111/trajectory.json b/tasks/press_part/press_switch_8/trial_0111/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..419fa9bce81f96814a8bbd316bb65ea31e4e7ede
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0111/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 242119,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 242119
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0118/trajectory.json b/tasks/press_part/press_switch_8/trial_0118/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f767e9cb34e6b5a1db511cd216f1d62b1d04b46
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0118/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 333886,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 333886
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0130/trajectory.json b/tasks/press_part/press_switch_8/trial_0130/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..a405b7575c39dc880b673cb2549202f083b65fb4
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0130/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 143469,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 143469
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0149/trajectory.json b/tasks/press_part/press_switch_8/trial_0149/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a7d9052a74f097f4d84c9e09c8b64db7b861f99
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0149/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 720804,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 720804
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0155/trajectory.json b/tasks/press_part/press_switch_8/trial_0155/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aad266cd45bd175a97dd881e95ed12cf6780a88
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0155/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 484693,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 484693
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0161/trajectory.json b/tasks/press_part/press_switch_8/trial_0161/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8e08c1b300fc986433bfbc9dba94ad73b112915
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0161/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 786832,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 786832
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0165/trajectory.json b/tasks/press_part/press_switch_8/trial_0165/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..2df9796127040f9e7f0d71f49d7b3c7b2a651d00
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0165/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 599272,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 599272
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0167/trajectory.json b/tasks/press_part/press_switch_8/trial_0167/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..43f26f679eb6a1cd66f857a135f8315bdb0b6457
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0167/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 671830,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 125,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 671830
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0169/trajectory.json b/tasks/press_part/press_switch_8/trial_0169/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1c10a179cfce50d951d1c4ed5fb98d661635119
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0169/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 892132,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 892132
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0175/trajectory.json b/tasks/press_part/press_switch_8/trial_0175/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad8613bf1bbc606680615d0d9895cb8baf56d091
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0175/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 848356,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 848356
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0177/trajectory.json b/tasks/press_part/press_switch_8/trial_0177/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2c5bd210c2ab828d07ab02a830d24a87964942f
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0177/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 303577,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 303577
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0178/trajectory.json b/tasks/press_part/press_switch_8/trial_0178/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..199cc42639d18ea327dc41887073896a5ed84935
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0178/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 179544,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 179544
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0179/trajectory.json b/tasks/press_part/press_switch_8/trial_0179/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb5daf83283104d0038bc763c2a4242f9a55f672
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0179/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 567715,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 567715
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0183/trajectory.json b/tasks/press_part/press_switch_8/trial_0183/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..abfe81c0045b2ef8518ae31ecb922f71475ee0c5
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0183/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 231448,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 231448
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0185/trajectory.json b/tasks/press_part/press_switch_8/trial_0185/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bd39fe23483cf00115becb76f55a35dffc368e9
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0185/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 911833,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 911833
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0187/trajectory.json b/tasks/press_part/press_switch_8/trial_0187/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..5236ab72389bfcd6c4784992f6ac398b0e444590
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0187/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 117778,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 117778
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0194/trajectory.json b/tasks/press_part/press_switch_8/trial_0194/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce072645ed3a7e8eb253435f64da88506a17bc99
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0194/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 742135,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 742135
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0198/trajectory.json b/tasks/press_part/press_switch_8/trial_0198/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb58c4694a050863ad45ce0db10b81091ad69aab
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0198/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 468101,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 468101
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0201/trajectory.json b/tasks/press_part/press_switch_8/trial_0201/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..95fe1864dbd44cac43aed6d66c2b8d935fac04a6
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0201/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 152904,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 152904
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0203/trajectory.json b/tasks/press_part/press_switch_8/trial_0203/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..f901b3c657c416fa19c86a5dd5cb3734a3e6ac8c
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0203/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 249487,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 249487
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0205/trajectory.json b/tasks/press_part/press_switch_8/trial_0205/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..066474b6b96af2df24c6822aea508a6c3e79316d
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0205/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 895291,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 895291
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0206/trajectory.json b/tasks/press_part/press_switch_8/trial_0206/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..6926bfa26587d678934b77253d8b44be62fe1b60
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0206/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 460809,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 460809
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0211/trajectory.json b/tasks/press_part/press_switch_8/trial_0211/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b85a6b7b728d390e7300b353d1f4da04ffad885
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0211/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 64874,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 64874
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0231/trajectory.json b/tasks/press_part/press_switch_8/trial_0231/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aeaedb8c4b7483f64f4e2f428a5ff4dcafa9c93
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0231/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 746835,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 746835
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0234/trajectory.json b/tasks/press_part/press_switch_8/trial_0234/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a465a1749010faa98637c2a0eb9ff5983a72fc1
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0234/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 999381,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 999381
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0239/trajectory.json b/tasks/press_part/press_switch_8/trial_0239/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c64571401c34ead536977c5dcd49b6585c93e362
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0239/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 377679,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 125,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 377679
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0240/trajectory.json b/tasks/press_part/press_switch_8/trial_0240/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc8ec4068bd832cf397b963d6b1393abc9120503
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0240/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 737469,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 737469
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0241/trajectory.json b/tasks/press_part/press_switch_8/trial_0241/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..805d8de03d5e16b523f1e5ddef832c035dbfb0e3
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0241/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 163059,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 118,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 163059
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0249/trajectory.json b/tasks/press_part/press_switch_8/trial_0249/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d339e92f5aa03970f5e495f1c62a00eb3419c70f
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0249/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 766822,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 126,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 766822
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0252/trajectory.json b/tasks/press_part/press_switch_8/trial_0252/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..85172718da48d3bd89daed21e98a2a32d71e1c79
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0252/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 194187,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 84,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 194187
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0253/trajectory.json b/tasks/press_part/press_switch_8/trial_0253/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a3781234cfd45eafdc843268ae69bba77435ff0
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0253/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 812726,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 812726
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0262/trajectory.json b/tasks/press_part/press_switch_8/trial_0262/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f19924d8d9fcda7831328aecea2cb3a1787f594
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0262/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 339308,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 339308
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0280/trajectory.json b/tasks/press_part/press_switch_8/trial_0280/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..15e4466ac489712ba610cf5739ac4002442b7ad5
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0280/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 997928,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 997928
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0293/trajectory.json b/tasks/press_part/press_switch_8/trial_0293/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..55085780037d7aff6b28ce0946db88aa16cfc2e1
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0293/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 183622,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 183622
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0296/trajectory.json b/tasks/press_part/press_switch_8/trial_0296/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c46fcfdd9229cae4d33b015f8f24a266aa76e900
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0296/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 998806,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 998806
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0306/trajectory.json b/tasks/press_part/press_switch_8/trial_0306/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a01c208f75e0f90535303ba812a55bef378b223
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0306/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 528322,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 528322
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0309/trajectory.json b/tasks/press_part/press_switch_8/trial_0309/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8947100321bf3c8f9a0e7b29d66185ee282f80b
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0309/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 481972,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 481972
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0319/trajectory.json b/tasks/press_part/press_switch_8/trial_0319/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..726981f2a4e505f97c9a6c284faeb4f7c63b44ca
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0319/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 593137,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 593137
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0322/trajectory.json b/tasks/press_part/press_switch_8/trial_0322/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..366d3a99a331076b01f19a6b891cfee72806e2a9
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0322/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 836105,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 122,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 836105
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0324/trajectory.json b/tasks/press_part/press_switch_8/trial_0324/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..7afd8fda40eb859f6e3a00c70c843f0adeb0a5d4
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0324/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 91724,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 91724
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0326/trajectory.json b/tasks/press_part/press_switch_8/trial_0326/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..53d50a36a5751c207ff14db15ce1a5c21b329fdb
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0326/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 707179,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 707179
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0328/trajectory.json b/tasks/press_part/press_switch_8/trial_0328/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ce21d0f95281b28432aa5c0c986142a7df68882
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0328/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 788765,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 788765
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0330/trajectory.json b/tasks/press_part/press_switch_8/trial_0330/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fb4b2dd58e7e62f76e54b784b5bbfbcc021c6ab
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0330/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 104549,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 117,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 104549
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0332/trajectory.json b/tasks/press_part/press_switch_8/trial_0332/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5aa93ce4e2973363d881d4819eeb33a53784e46
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0332/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 68156,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 68156
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0348/trajectory.json b/tasks/press_part/press_switch_8/trial_0348/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fd8bcb5b2b3784522f16a8496b18ddd8f878bb5
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0348/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 170153,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 151,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 170153
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0361/trajectory.json b/tasks/press_part/press_switch_8/trial_0361/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed4ebf897c052ecc830f73e81e1ccea8aca9da55
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0361/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 223497,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 223497
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0365/trajectory.json b/tasks/press_part/press_switch_8/trial_0365/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..9570d86ec02a25b04e0cd7f2c7a118e600f885e8
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0365/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 755882,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 755882
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0370/trajectory.json b/tasks/press_part/press_switch_8/trial_0370/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..0626dbf26c3dffccb7f57b54a8219a069924a7fe
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0370/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 317661,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 317661
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0371/trajectory.json b/tasks/press_part/press_switch_8/trial_0371/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..0784e7ee29c4e0a4c4b0b02a51fbdf3003b84a8a
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0371/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 920141,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 920141
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0380/trajectory.json b/tasks/press_part/press_switch_8/trial_0380/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..2100ae24e9c0d43e391ba432f607af74242b7389
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0380/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 28507,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 28507
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0387/trajectory.json b/tasks/press_part/press_switch_8/trial_0387/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..5951c22e5f833b965f1be4de6405860f05eb99f8
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0387/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 968862,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 968862
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0398/trajectory.json b/tasks/press_part/press_switch_8/trial_0398/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..19df7e5a9c92187ce464b9031e308b0dee159970
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0398/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 924340,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 125,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 924340
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0403/trajectory.json b/tasks/press_part/press_switch_8/trial_0403/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..b73760f00f7bdd2e9baa4b1b26997d6daf20dac0
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0403/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 298111,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 298111
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0407/trajectory.json b/tasks/press_part/press_switch_8/trial_0407/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..07a8f0fa84257ebefd55438d81deca0e9d707c84
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0407/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 628467,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 628467
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0412/trajectory.json b/tasks/press_part/press_switch_8/trial_0412/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..f167dda5933674fb01688a791792fe8a8fab902a
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0412/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 118145,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 118145
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0418/trajectory.json b/tasks/press_part/press_switch_8/trial_0418/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a15a8bfd862c5fdeb388a63275da4be2baf7d4
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0418/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 594233,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 594233
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0425/trajectory.json b/tasks/press_part/press_switch_8/trial_0425/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..62e988070de6a847cde7f3afd8f88003013ca449
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0425/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 667332,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 123,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 667332
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0438/trajectory.json b/tasks/press_part/press_switch_8/trial_0438/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..181ce995d694246d3879a69aa7809116e1a20692
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0438/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 433622,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 433622
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0441/trajectory.json b/tasks/press_part/press_switch_8/trial_0441/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..74a315604f251b2893776a51e0558677a7d3f8e0
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0441/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 156511,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 156511
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0443/trajectory.json b/tasks/press_part/press_switch_8/trial_0443/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..689d132386175f6e77fb0c94940662d5c763196c
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0443/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 918839,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 918839
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0449/trajectory.json b/tasks/press_part/press_switch_8/trial_0449/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3c22fde73e456c4cb8fd295ada29877e280088d
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0449/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 138256,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 138256
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0450/trajectory.json b/tasks/press_part/press_switch_8/trial_0450/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..241eb101dbc30d1ab163cd0c13cc07abc006e9ad
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0450/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 603981,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 603981
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0464/trajectory.json b/tasks/press_part/press_switch_8/trial_0464/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..974d4306e7528526db4034d7203cc3513cd358e1
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0464/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 52610,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 152,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 52610
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0472/trajectory.json b/tasks/press_part/press_switch_8/trial_0472/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..29700f2a1c93dd40991fecec2a608e93fd54b74a
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0472/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 818859,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 100,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 818859
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0475/trajectory.json b/tasks/press_part/press_switch_8/trial_0475/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..35f15d0bab88b0aab3da649ab00f4819c6a79c34
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0475/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 452079,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 125,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 452079
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0480/trajectory.json b/tasks/press_part/press_switch_8/trial_0480/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..919cda60b9c335b2becaeca0fbcbedc8ae54b9cf
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0480/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 496464,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 496464
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0482/trajectory.json b/tasks/press_part/press_switch_8/trial_0482/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d85cccd9e54c1c89b0957ababc34872c027565cb
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0482/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 724941,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 724941
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0488/trajectory.json b/tasks/press_part/press_switch_8/trial_0488/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..9889e8fe5e735606c52ec397ef5987ecf143b551
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0488/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 320018,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 320018
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0493/trajectory.json b/tasks/press_part/press_switch_8/trial_0493/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa7a2e41f74b6e6209c3a7e6c2e8c4b6580f64f9
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0493/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 551436,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 551436
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0498/trajectory.json b/tasks/press_part/press_switch_8/trial_0498/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..93b793b62cec64d458c5192174e85ed6039c215b
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0498/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 639999,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 639999
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0504/trajectory.json b/tasks/press_part/press_switch_8/trial_0504/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d397ab1fa1e26b3a95d3655440868083f67b7c3
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0504/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 499875,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 499875
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0509/trajectory.json b/tasks/press_part/press_switch_8/trial_0509/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..525392878e0f2b2ce7a677c3a1d42b99ac44da90
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0509/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 672399,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 672399
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0511/trajectory.json b/tasks/press_part/press_switch_8/trial_0511/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4f987a047f2d245346ca97892b3c49c368710a2
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0511/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 150053,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 150053
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0516/trajectory.json b/tasks/press_part/press_switch_8/trial_0516/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..621fb3ec92abedaf2d728d1273c2383c7674a3a4
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0516/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 879796,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 879796
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0517/trajectory.json b/tasks/press_part/press_switch_8/trial_0517/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..96bb557c6a9d61c31bd55cf02f26504bee8e42ec
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0517/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 430201,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 430201
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0519/trajectory.json b/tasks/press_part/press_switch_8/trial_0519/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b0de915fcf8431f93fa91e02f39828d27f155a2
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0519/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 188954,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 188954
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0527/trajectory.json b/tasks/press_part/press_switch_8/trial_0527/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a6ea71da7539c42c3319f2816b12edf222077db
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0527/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 14438,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 14438
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0531/trajectory.json b/tasks/press_part/press_switch_8/trial_0531/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..8649dee13123ce5bfdaf9cd5bd4f4aa39c0a6621
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0531/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 713243,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 713243
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0536/trajectory.json b/tasks/press_part/press_switch_8/trial_0536/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b27fff8afc6f6a08f4a25f1b43d08650dc41a47
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0536/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 942179,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 942179
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0539/trajectory.json b/tasks/press_part/press_switch_8/trial_0539/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ec5f434b7a66ff6c0a14669f6b31dbf98d18630
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0539/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 631908,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 631908
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0544/trajectory.json b/tasks/press_part/press_switch_8/trial_0544/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..879a3be119f1f1ef1466a5c9881152ecbfc54efd
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0544/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 442143,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 442143
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0557/trajectory.json b/tasks/press_part/press_switch_8/trial_0557/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff1f6eee569c2deaddbb9d744d9f21a7ebe7a00a
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0557/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 629640,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 629640
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0561/trajectory.json b/tasks/press_part/press_switch_8/trial_0561/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..b231d4503cf0053ee5515ad2f86b3d9085aca03a
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0561/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 672707,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 672707
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0564/trajectory.json b/tasks/press_part/press_switch_8/trial_0564/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d4aadcfcb18e0f58db195180910736130f35a8d
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0564/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 751081,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 751081
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0565/trajectory.json b/tasks/press_part/press_switch_8/trial_0565/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0130ed8ee67301f6b9e655892004ead2465d689
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0565/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 7850,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 7850
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0572/trajectory.json b/tasks/press_part/press_switch_8/trial_0572/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c741bc3ce7c9d1b35f59cb32ca221faf3e95a0eb
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0572/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 959887,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 959887
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0584/trajectory.json b/tasks/press_part/press_switch_8/trial_0584/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e789ba0353302664dd63bb84f14f41cbc2ca7441
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0584/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 383266,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 383266
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0595/trajectory.json b/tasks/press_part/press_switch_8/trial_0595/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..37e1280aec6ff9bd3860f1fe5d205edecfab627d
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0595/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 531029,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 531029
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0615/trajectory.json b/tasks/press_part/press_switch_8/trial_0615/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9da255f032aec8000f68daf9ac8e9f752951793
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0615/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 253703,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 253703
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0622/trajectory.json b/tasks/press_part/press_switch_8/trial_0622/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..0089107d73b7d5edad03a99e7369c08a8359fbbf
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0622/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 149952,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 149952
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0623/trajectory.json b/tasks/press_part/press_switch_8/trial_0623/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b356a291343925b2066cfd515b970157cdb4929
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0623/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 7610,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 7610
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0624/trajectory.json b/tasks/press_part/press_switch_8/trial_0624/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..beac74a01eef4e3ab167101dedac780e73c98da1
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0624/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 464595,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 464595
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0628/trajectory.json b/tasks/press_part/press_switch_8/trial_0628/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..08f14606a317e5649c3dc1fc433827ffc41390d0
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0628/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 339370,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 339370
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0632/trajectory.json b/tasks/press_part/press_switch_8/trial_0632/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb4fb7f92dc547f07d194bee75ffe4b9e97406eb
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0632/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 8651,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 8651
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0633/trajectory.json b/tasks/press_part/press_switch_8/trial_0633/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0c74e4d744796f77d669d101d19df3beb39109d
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0633/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 13818,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 13818
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0662/trajectory.json b/tasks/press_part/press_switch_8/trial_0662/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e6aa0886907f747603c6a072ba7282b93443646
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0662/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 850758,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 850758
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0665/trajectory.json b/tasks/press_part/press_switch_8/trial_0665/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3dbfab9e5b233719609a4a35bcbc6e99b236e51
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0665/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 963599,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 122,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 963599
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0666/trajectory.json b/tasks/press_part/press_switch_8/trial_0666/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..043b8183ec7097afa47848835d537eb91c6ef55e
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0666/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 520029,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 520029
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0671/trajectory.json b/tasks/press_part/press_switch_8/trial_0671/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4629ce9a1f883b0f9ad3efc00ed657ffaad4058
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0671/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 946063,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 946063
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0683/trajectory.json b/tasks/press_part/press_switch_8/trial_0683/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ad21b71a70bb8e111b9a783933e336a4492e64a
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0683/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 834612,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 834612
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0686/trajectory.json b/tasks/press_part/press_switch_8/trial_0686/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..80b26e989c0ca0d9c296e3e692aff708f9c3dd6c
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0686/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 32788,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 98,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 32788
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0688/trajectory.json b/tasks/press_part/press_switch_8/trial_0688/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..856280ab7778ff335794ec3295ec0d1c6c310a71
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0688/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 443281,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 443281
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0689/trajectory.json b/tasks/press_part/press_switch_8/trial_0689/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a118a2ad10c138cca0f273fbe6eb2b7847cb4c9
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0689/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 362749,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 362749
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0693/trajectory.json b/tasks/press_part/press_switch_8/trial_0693/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..dde7f22ec25a3cf6bbbf1481e63b2c21a32d54f3
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0693/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 939988,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 939988
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0698/trajectory.json b/tasks/press_part/press_switch_8/trial_0698/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..0df9fc9d5ad3f4a6d4439a9aa5464c93f76f6932
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0698/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 828708,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 828708
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0699/trajectory.json b/tasks/press_part/press_switch_8/trial_0699/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cc17be19bbe0e8020db58a32ce5342baf61063a
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0699/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 478461,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 478461
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0708/trajectory.json b/tasks/press_part/press_switch_8/trial_0708/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6cea832e1e1afe18e023233366fd13ebf6e0df6
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0708/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 816594,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 125,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 816594
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0715/trajectory.json b/tasks/press_part/press_switch_8/trial_0715/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..074cdbf3af44e8212a799f96d18bc01612a040bc
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0715/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 839867,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 125,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 839867
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0728/trajectory.json b/tasks/press_part/press_switch_8/trial_0728/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba4c1635e4bed49294408097c0613f7d4dfdec1
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0728/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 749523,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 749523
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0730/trajectory.json b/tasks/press_part/press_switch_8/trial_0730/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..48fe7dbb6382c75b75580fc28aba21700dcd3129
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0730/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 161187,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 161187
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0756/trajectory.json b/tasks/press_part/press_switch_8/trial_0756/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3bffed15a827185e88c0423e06ea6b0da4ffce9
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0756/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 451871,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 451871
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0760/trajectory.json b/tasks/press_part/press_switch_8/trial_0760/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..70e4f6e3a2373646098f72a66f3ec2ae38e731f3
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0760/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 287981,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 287981
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0769/trajectory.json b/tasks/press_part/press_switch_8/trial_0769/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c488d9a881a9ae87030b1a5d9d5e4b47fcd6d090
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0769/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 330692,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 330692
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0774/trajectory.json b/tasks/press_part/press_switch_8/trial_0774/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d852aff3f4dc586ac4b2174476cf24d7c3a15efe
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0774/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 660654,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 660654
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0777/trajectory.json b/tasks/press_part/press_switch_8/trial_0777/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..6209869e2c484094a122b396255a4cf291a4c3e4
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0777/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 384097,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 384097
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0786/trajectory.json b/tasks/press_part/press_switch_8/trial_0786/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f071635fcdb6311cd844e2df599cdb5b3bd7528
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0786/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 344472,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 344472
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0789/trajectory.json b/tasks/press_part/press_switch_8/trial_0789/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..a00dd24b1e95172f1a5840ab8d0510f56bc6a8f2
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0789/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 762132,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 762132
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0793/trajectory.json b/tasks/press_part/press_switch_8/trial_0793/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..52b6010af8e21e0837a09e890fc493f33b0a66a6
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0793/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 143030,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 143030
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0800/trajectory.json b/tasks/press_part/press_switch_8/trial_0800/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a03e55c19dc5adab7399a8e000ada66aa66ef5d
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0800/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 312696,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 312696
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0801/trajectory.json b/tasks/press_part/press_switch_8/trial_0801/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..60980c123edaf47f33d577a49cdb7b7bcaa64bf5
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0801/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 837528,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 837528
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0810/trajectory.json b/tasks/press_part/press_switch_8/trial_0810/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..89a4a685c847b301be0b901dbba75e2711c229d1
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0810/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 296915,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 296915
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0812/trajectory.json b/tasks/press_part/press_switch_8/trial_0812/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbfec06c0cbe34374cf3fca0a62631bba6b677c7
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0812/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 122806,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 122806
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0816/trajectory.json b/tasks/press_part/press_switch_8/trial_0816/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f08bcb2b749c6e87115c3989b8ee886438d8315
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0816/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 94664,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 94664
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0827/trajectory.json b/tasks/press_part/press_switch_8/trial_0827/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..609d1fc7eee19071e564c721f79f232ad00598cc
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0827/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 259479,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 259479
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0830/trajectory.json b/tasks/press_part/press_switch_8/trial_0830/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..766f7286b927f2ee2232c7785d4cd237859c0c73
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0830/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 793193,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 99,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 793193
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0831/trajectory.json b/tasks/press_part/press_switch_8/trial_0831/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c785e25bc30b6e6296bf69c49e2129bfca66f5ce
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0831/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 830173,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 830173
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0834/trajectory.json b/tasks/press_part/press_switch_8/trial_0834/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2dfa291c3d7312a42d508217820e1b2eddbf903
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0834/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 519283,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 519283
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0835/trajectory.json b/tasks/press_part/press_switch_8/trial_0835/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c35d5890afb97fc75fc40b495479cbdd227884c8
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0835/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 127221,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 127221
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0837/trajectory.json b/tasks/press_part/press_switch_8/trial_0837/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec9497988a08e39443156824dcbeb0275d5be393
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0837/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 933187,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 933187
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0840/trajectory.json b/tasks/press_part/press_switch_8/trial_0840/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..988026d74127e2b1f3c5431bcc6b789186860aab
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0840/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 796337,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 796337
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0844/trajectory.json b/tasks/press_part/press_switch_8/trial_0844/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceff2291bee3108839817cb61a81fd6a906c10f6
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0844/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 103832,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 103832
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0852/trajectory.json b/tasks/press_part/press_switch_8/trial_0852/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..32950b1affbf7ab7cdbb70ca159df1f9dbb9133e
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0852/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 527066,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 527066
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0854/trajectory.json b/tasks/press_part/press_switch_8/trial_0854/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c81ce1ca09b9d1ba605b63f7e8318dbd60c8fc7
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0854/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 894399,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 894399
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0858/trajectory.json b/tasks/press_part/press_switch_8/trial_0858/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4fd990158f486d65f7a204f34bf293a77888c63
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0858/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 116732,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 116732
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0863/trajectory.json b/tasks/press_part/press_switch_8/trial_0863/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb523f6834ec34093db7eddd324b6e6ea86d4177
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0863/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 877012,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 877012
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0868/trajectory.json b/tasks/press_part/press_switch_8/trial_0868/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6b8bbae22e0e3bd99136b053107c19c42eac399
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0868/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 784758,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 784758
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0871/trajectory.json b/tasks/press_part/press_switch_8/trial_0871/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf5b792d18340d2e6ab07b2cb096fe8cd2477d7e
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0871/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 299868,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 299868
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0882/trajectory.json b/tasks/press_part/press_switch_8/trial_0882/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..66ca191c8a74f3bf749bc09ab1b02fe42f00029c
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0882/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 269908,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 269908
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0883/trajectory.json b/tasks/press_part/press_switch_8/trial_0883/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..62b4cd406d536c4cef15aad43f03fb6886602d34
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0883/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 930935,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 930935
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0893/trajectory.json b/tasks/press_part/press_switch_8/trial_0893/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..84dc3e42b23ed8efaac78186486e1a729231ec29
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0893/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 209355,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 209355
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0907/trajectory.json b/tasks/press_part/press_switch_8/trial_0907/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a7f56a02f9008966ad90169bed94d83b8179852
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0907/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 376788,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 376788
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0908/trajectory.json b/tasks/press_part/press_switch_8/trial_0908/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..cec85e2ce6e520067281ba3537a892ace9e81b9e
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0908/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 413445,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 413445
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0922/trajectory.json b/tasks/press_part/press_switch_8/trial_0922/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ef6ec48541ed68150bc21cc5121de57d7fe0ee1
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0922/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 157745,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 157745
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0940/trajectory.json b/tasks/press_part/press_switch_8/trial_0940/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cdd1b1046d7b440092a768355d73887637cd1c8
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0940/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 996731,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 996731
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0946/trajectory.json b/tasks/press_part/press_switch_8/trial_0946/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..8935ddc2104319fb774d5ffb89177abde50ea71f
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0946/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 582157,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 582157
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0950/trajectory.json b/tasks/press_part/press_switch_8/trial_0950/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bda0331bfed6998c017376041cd47496036d310
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0950/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 604155,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 604155
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0954/trajectory.json b/tasks/press_part/press_switch_8/trial_0954/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1adbac01568aa967109c8a1e71b01fd18ad1bb9
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0954/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 48114,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 48114
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0958/trajectory.json b/tasks/press_part/press_switch_8/trial_0958/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..feca9f760253d9506683db2847f43bc17bc1c121
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0958/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 320668,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 320668
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0963/trajectory.json b/tasks/press_part/press_switch_8/trial_0963/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..719521899ae43d0149f9b00967a202cd361bc56a
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0963/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 34820,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 34820
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0968/trajectory.json b/tasks/press_part/press_switch_8/trial_0968/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec15778000105ad32f9b0502f5e9a568c0535d93
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0968/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 643430,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 643430
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0983/trajectory.json b/tasks/press_part/press_switch_8/trial_0983/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0558061a1898d6f88c30a87f48ff455034960ce
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0983/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 819345,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 819345
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0991/trajectory.json b/tasks/press_part/press_switch_8/trial_0991/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d751064a824ce390aba35404b699d0049fa3539d
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0991/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 996538,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 996538
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0994/trajectory.json b/tasks/press_part/press_switch_8/trial_0994/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d5d4a9da4c16f5e6523ad1cd13900970d844144
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0994/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 615107,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 615107
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0995/trajectory.json b/tasks/press_part/press_switch_8/trial_0995/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..374d1e6298fa50432e3c59710b69a17553e9d073
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0995/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 940262,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 940262
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_0996/trajectory.json b/tasks/press_part/press_switch_8/trial_0996/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..61c895712c240869beb1d744cc456ca5df1f74d6
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_0996/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 56441,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 56441
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1003/trajectory.json b/tasks/press_part/press_switch_8/trial_1003/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..5447209b529c6ce9319d85872c14fac6c994808c
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1003/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 727030,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 727030
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1004/trajectory.json b/tasks/press_part/press_switch_8/trial_1004/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..f769bbe511ba22c3bd92f43dc929b6954d60582a
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1004/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 151717,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 151717
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1015/trajectory.json b/tasks/press_part/press_switch_8/trial_1015/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb9f8e97d29c0b583d4e06c93be35f1525deae87
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1015/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 585539,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 585539
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1021/trajectory.json b/tasks/press_part/press_switch_8/trial_1021/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7a83186d86b9b7dc75ad46bef76b73e71624d04
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1021/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 779404,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 779404
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1026/trajectory.json b/tasks/press_part/press_switch_8/trial_1026/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb2b91e85cc196ea98357c2f836c7e7bc319cca5
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1026/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 469541,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 469541
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1033/trajectory.json b/tasks/press_part/press_switch_8/trial_1033/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d985d9b82ccb936a69fe9b73626e76f34284cd0
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1033/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 611901,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 611901
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1034/trajectory.json b/tasks/press_part/press_switch_8/trial_1034/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a65eb6feafa6984e09e1a7d85c92df719a3db3c
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1034/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 770173,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 770173
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1041/trajectory.json b/tasks/press_part/press_switch_8/trial_1041/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..851806dd3411810bb5f2f3e28ae1ec1b9bf2f5dd
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1041/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 103982,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 103982
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1052/trajectory.json b/tasks/press_part/press_switch_8/trial_1052/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..3981e710ae35edf977c83bcbe84969026141d3fe
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1052/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 457694,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 457694
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1082/trajectory.json b/tasks/press_part/press_switch_8/trial_1082/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4a12dbbaf0db705fc157750d0056fb5cd3519e3
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1082/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 375910,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 152,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 375910
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1085/trajectory.json b/tasks/press_part/press_switch_8/trial_1085/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..482a0f17959ca999a1e32a230a9ab30a553c9f16
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1085/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 841991,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 120,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 841991
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1092/trajectory.json b/tasks/press_part/press_switch_8/trial_1092/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f827c2ce622328a80adf2c5ed57079a6e8ba03a
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1092/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 560542,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 560542
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1094/trajectory.json b/tasks/press_part/press_switch_8/trial_1094/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..eab5c26b3ad33db3739c86d707f9221d13a47a7e
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1094/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 941927,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 941927
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1104/trajectory.json b/tasks/press_part/press_switch_8/trial_1104/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4f8e68a42923376a5addc1c7c2317f26b986a85
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1104/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 595225,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 595225
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1112/trajectory.json b/tasks/press_part/press_switch_8/trial_1112/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2ab62f8c37619ec301bc2c6ac1d5301e1856a99
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1112/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 465816,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 465816
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1123/trajectory.json b/tasks/press_part/press_switch_8/trial_1123/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d0e567301caeb8cb5db4b36543ba6340ca18c63
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1123/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 310651,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 310651
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1128/trajectory.json b/tasks/press_part/press_switch_8/trial_1128/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..686be1e0f64ae44c29ae90a4cd3d383a28eff08f
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1128/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 553531,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 553531
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1130/trajectory.json b/tasks/press_part/press_switch_8/trial_1130/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd0923b2ae61e07b645bed60e118ce90e6af4e3e
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1130/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 770061,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 770061
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1131/trajectory.json b/tasks/press_part/press_switch_8/trial_1131/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..a62cbffb6b754aa9864a9121fcfc8f40e65023b6
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1131/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 35754,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 35754
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1138/trajectory.json b/tasks/press_part/press_switch_8/trial_1138/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..07998449aaf1e66f14c4cb51af3aacbc3fad2e9e
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1138/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 431142,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 431142
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1139/trajectory.json b/tasks/press_part/press_switch_8/trial_1139/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7fde41fdd2e6c6cae939fb188f41d03bf0fb385
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1139/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 546225,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 546225
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1142/trajectory.json b/tasks/press_part/press_switch_8/trial_1142/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ffcc956549a5d5a8f43e0eeb63e2428c9409233
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1142/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 343911,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 343911
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1146/trajectory.json b/tasks/press_part/press_switch_8/trial_1146/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e55d8745418c2add79d8f5af2098583309ae8fb1
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1146/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 711057,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 711057
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1149/trajectory.json b/tasks/press_part/press_switch_8/trial_1149/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..aed95d49e35a177059ba70bdf543b43774ed8e39
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1149/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 179216,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 179216
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1153/trajectory.json b/tasks/press_part/press_switch_8/trial_1153/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f5a6cf4c2040086ad9b0150e9b7bcc9a3cf4b78
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1153/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 575915,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 575915
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1160/trajectory.json b/tasks/press_part/press_switch_8/trial_1160/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d15a44fd53bfe9c8eab766603d044671fff7f59b
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1160/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 4172,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 4172
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1161/trajectory.json b/tasks/press_part/press_switch_8/trial_1161/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..7162124a1c723c60a949f81093a84fd0cb1936db
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1161/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 515200,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 515200
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1164/trajectory.json b/tasks/press_part/press_switch_8/trial_1164/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..23f70482b8783cecc62cf2101e227ea6dae4b16e
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1164/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 772465,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 772465
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1177/trajectory.json b/tasks/press_part/press_switch_8/trial_1177/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..abc24408ac058835b3e5fdfb4d4db2a48809d949
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1177/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 405018,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 125,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 405018
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1178/trajectory.json b/tasks/press_part/press_switch_8/trial_1178/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2190008c168c122dad7df59621341b3a4e8bba9
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1178/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 17971,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 17971
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1181/trajectory.json b/tasks/press_part/press_switch_8/trial_1181/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9cf6db3779b116a3c7bec80e5c90560abff8619
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1181/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 373019,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 126,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 373019
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1185/trajectory.json b/tasks/press_part/press_switch_8/trial_1185/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..149a70d61dd1a1b597de9e69986128aa27f153ad
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1185/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 414192,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 414192
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1191/trajectory.json b/tasks/press_part/press_switch_8/trial_1191/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..55aa2ca52a5864fee033f9d7f6b79201062bf41c
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1191/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 64978,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 64978
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1198/trajectory.json b/tasks/press_part/press_switch_8/trial_1198/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..385913738940b32d08dce857a33baa91c21932ab
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1198/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 47015,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 47015
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1199/trajectory.json b/tasks/press_part/press_switch_8/trial_1199/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..314b3afd706cb04e0cb00d00457d2b108941a895
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1199/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 353664,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 353664
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1216/trajectory.json b/tasks/press_part/press_switch_8/trial_1216/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc9e1dd7dd1efadce0bf7a55553245da28fbfccf
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1216/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 863875,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 863875
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1223/trajectory.json b/tasks/press_part/press_switch_8/trial_1223/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..cacd76d99436c177046ebb95fb4f4dfa3e039eba
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1223/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 496316,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 496316
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1226/trajectory.json b/tasks/press_part/press_switch_8/trial_1226/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..89b638b2b3a41336183c1eb1e25ec046f7187286
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1226/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 395325,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 395325
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1241/trajectory.json b/tasks/press_part/press_switch_8/trial_1241/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4dbbd960fb0b74ef1673eb68d751f012c19e298
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1241/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 636089,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 636089
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1243/trajectory.json b/tasks/press_part/press_switch_8/trial_1243/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..044b1ce095faf2c9dc27e8d6c1bf83f5a178d5dc
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1243/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 410330,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 410330
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1244/trajectory.json b/tasks/press_part/press_switch_8/trial_1244/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..72366bdce4d4f8d7410cc2cc5961907d2a82757e
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1244/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 322755,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 322755
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1245/trajectory.json b/tasks/press_part/press_switch_8/trial_1245/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e52fa4d75fcb4ecc507f52d71359b0fc39bf75ec
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1245/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 928389,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 928389
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1246/trajectory.json b/tasks/press_part/press_switch_8/trial_1246/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d049490ad2d74e9a62cfacf9a698f0b038acc950
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1246/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 951142,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 951142
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1257/trajectory.json b/tasks/press_part/press_switch_8/trial_1257/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec19f23d3f7ab380078c4c2ea95cb21957be2848
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1257/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 723813,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 723813
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1260/trajectory.json b/tasks/press_part/press_switch_8/trial_1260/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..88e659af2881ca4abb512ebae542a272cb222698
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1260/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 706322,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 706322
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1262/trajectory.json b/tasks/press_part/press_switch_8/trial_1262/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..ede587750ddba4883de7e88cd4bbd59620d43857
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1262/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 568930,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 568930
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1264/trajectory.json b/tasks/press_part/press_switch_8/trial_1264/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd094641dfa3e0eaa223b6fe9aeeb23c3ad010fc
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1264/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 153196,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 153196
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1266/trajectory.json b/tasks/press_part/press_switch_8/trial_1266/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e96124e5775ebd1a7b67c47ef3a40795da38e82c
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1266/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 384156,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 384156
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1268/trajectory.json b/tasks/press_part/press_switch_8/trial_1268/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a872a4a3bda6a93ff824c148126db41086278ac
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1268/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 646444,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 646444
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1298/trajectory.json b/tasks/press_part/press_switch_8/trial_1298/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..0441ecd56094a2f175ffddd46a696c44f326483b
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1298/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 557342,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 557342
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1300/trajectory.json b/tasks/press_part/press_switch_8/trial_1300/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..19c0134092f9a883d7ed38de901a78b9fb2f97e8
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1300/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 151613,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 151613
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1307/trajectory.json b/tasks/press_part/press_switch_8/trial_1307/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..32c2d818773c1d5d8c9a18a529b8194d70f0c1f8
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1307/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 141219,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 141219
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1311/trajectory.json b/tasks/press_part/press_switch_8/trial_1311/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..81ed2995c36b97cdd7dfba56c285122dc8093d9c
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1311/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 960328,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 960328
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1315/trajectory.json b/tasks/press_part/press_switch_8/trial_1315/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1d5dfc6cf1e6f43a8bfaf9e8a01b2a088842715
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1315/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 575837,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 575837
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1320/trajectory.json b/tasks/press_part/press_switch_8/trial_1320/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e449d723627bcfdae7d70e4b9f757fbaa4fabfa
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1320/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 999074,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 999074
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1322/trajectory.json b/tasks/press_part/press_switch_8/trial_1322/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..31e619bbf44a62878fa324a361286017e20fb4b3
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1322/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 223099,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 12,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 223099
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1323/trajectory.json b/tasks/press_part/press_switch_8/trial_1323/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f8a7bd309f9f0b3c5eb89cfa0a4def4ad0ac8e1
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1323/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 589791,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 589791
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1326/trajectory.json b/tasks/press_part/press_switch_8/trial_1326/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a8c3ca3ce6a1d9be162b0f0dfa99be66486ec80
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1326/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 180290,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 180290
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1327/trajectory.json b/tasks/press_part/press_switch_8/trial_1327/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..f03292c1cf3cf05ab8f41570f9b873f731a59989
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1327/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 12011,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 12011
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1329/trajectory.json b/tasks/press_part/press_switch_8/trial_1329/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..58077dbc453e73abe96040d023be351e7ccb0cd7
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1329/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 793740,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 793740
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1333/trajectory.json b/tasks/press_part/press_switch_8/trial_1333/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed7218bd7459b3429a073be6c2124a78ba1fb9f7
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1333/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 858674,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 858674
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1335/trajectory.json b/tasks/press_part/press_switch_8/trial_1335/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc7b8fda1f16ff51279bcc3f229488f6f86c3c2b
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1335/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 399641,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 399641
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1336/trajectory.json b/tasks/press_part/press_switch_8/trial_1336/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb127ab52403ce1962b36ebfde81ecf045a69be
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1336/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 658265,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 658265
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1340/trajectory.json b/tasks/press_part/press_switch_8/trial_1340/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..51db01f683e541fecfcc24ef57942f4aa18c3ff6
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1340/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 603347,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 603347
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1341/trajectory.json b/tasks/press_part/press_switch_8/trial_1341/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..47aa83a0f509595ab97bb8761e01894c1380bbaa
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1341/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 351178,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 351178
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1344/trajectory.json b/tasks/press_part/press_switch_8/trial_1344/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e69a22166fd0ad0b61cb012dbb7162cc31ba73b9
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1344/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 425693,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 425693
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1345/trajectory.json b/tasks/press_part/press_switch_8/trial_1345/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..191fba421a5c0546bd5987ed37b99f4fdb4f4c1b
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1345/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 491075,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 491075
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1358/trajectory.json b/tasks/press_part/press_switch_8/trial_1358/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..8478c6f89e6929a06f9ad4a1c23a89da2cf37252
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1358/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 273295,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 273295
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1363/trajectory.json b/tasks/press_part/press_switch_8/trial_1363/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebc3bbfcc2dbe1d1907d405ab616cfb32d4f78d9
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1363/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 8070,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 8070
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1364/trajectory.json b/tasks/press_part/press_switch_8/trial_1364/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc7430f3b0cae39d33b3c8017d38720776911e4e
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1364/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 14229,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 14229
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1365/trajectory.json b/tasks/press_part/press_switch_8/trial_1365/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..464617f07148333e7615453cd28ea8d8f57ae77f
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1365/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 887488,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 122,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 887488
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1366/trajectory.json b/tasks/press_part/press_switch_8/trial_1366/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..32ed14468fcc9bddf6471ad15939ba74745f6556
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1366/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 475858,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 475858
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1370/trajectory.json b/tasks/press_part/press_switch_8/trial_1370/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..896e5cf888bbb2f67bb3c244a8efa283662dfba1
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1370/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 299591,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 299591
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1387/trajectory.json b/tasks/press_part/press_switch_8/trial_1387/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..305ccd5cfd909fb3e1de3bdc4fb534f53ee77655
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1387/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 411666,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 124,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 411666
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1389/trajectory.json b/tasks/press_part/press_switch_8/trial_1389/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0eed4aabd19afdd3370c4d0e68a2a5132869bd9
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1389/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 911505,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 911505
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1400/trajectory.json b/tasks/press_part/press_switch_8/trial_1400/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..95dde39cf9e78fe81c1701090962efec68ad829a
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1400/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 597629,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 597629
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1403/trajectory.json b/tasks/press_part/press_switch_8/trial_1403/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d869adf0e3733e722f573bf27ff47f2de759f02d
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1403/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 364580,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 364580
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1404/trajectory.json b/tasks/press_part/press_switch_8/trial_1404/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..00e00a903734183b16bdbe3f66f5fa9726170cb0
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1404/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 188249,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 188249
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1414/trajectory.json b/tasks/press_part/press_switch_8/trial_1414/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..09b2951d4a541786a64c56eedfbacdad364bc5f9
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1414/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 482817,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 482817
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1424/trajectory.json b/tasks/press_part/press_switch_8/trial_1424/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..789bd19386460b96409421fc4df09de05bdd923d
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1424/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 458267,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 458267
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1430/trajectory.json b/tasks/press_part/press_switch_8/trial_1430/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..b201d8a4dfbd36bb4ab6523172e4ce41c03803e2
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1430/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 972525,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 972525
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1434/trajectory.json b/tasks/press_part/press_switch_8/trial_1434/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..dba0d2eebd4816abe6d4d6895b676be0e86db215
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1434/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 706789,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 706789
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1435/trajectory.json b/tasks/press_part/press_switch_8/trial_1435/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..b61d00f1884441f536d67893f1e0653ce4e5e6fd
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1435/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 302240,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 302240
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1441/trajectory.json b/tasks/press_part/press_switch_8/trial_1441/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..82959392c5f5792b4b76b36d67cc8e9c298185c3
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1441/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 804133,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 119,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 804133
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1442/trajectory.json b/tasks/press_part/press_switch_8/trial_1442/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..45095017405871e3256153e46de68979e5cd96e9
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1442/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 982799,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 982799
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1454/trajectory.json b/tasks/press_part/press_switch_8/trial_1454/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..72c10c974c8fd83760a0cf7f5af9b0924f552b25
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1454/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 92559,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 92559
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1461/trajectory.json b/tasks/press_part/press_switch_8/trial_1461/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..40bdb5d39eecec6ca91adb2ca7ebb7f5ffb82031
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1461/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 797177,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 797177
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1464/trajectory.json b/tasks/press_part/press_switch_8/trial_1464/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e33e9a4fde8318ba424973fa6b9d71fa649e5c17
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1464/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 570815,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 570815
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1472/trajectory.json b/tasks/press_part/press_switch_8/trial_1472/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..925dd61d2b085a259bd51c816c6ed615f9379cb8
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1472/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 646611,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 646611
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1473/trajectory.json b/tasks/press_part/press_switch_8/trial_1473/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..7878c6673153c9df2ee29c2bdb7031761897cc58
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1473/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 65845,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 98,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 65845
+      },
+      "success": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1474/trajectory.json b/tasks/press_part/press_switch_8/trial_1474/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbe67730fa50f08b9597a16468297bcca713f0a2
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1474/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 708770,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 708770
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/press_part/press_switch_8/trial_1485/trajectory.json b/tasks/press_part/press_switch_8/trial_1485/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..691317a703c0f07394cf4991209d77b1c44b5d95
--- /dev/null
+++ b/tasks/press_part/press_switch_8/trial_1485/trajectory.json
@@ -0,0 +1,37 @@
+{
+  "env_info": {
+    "env_id": "toggle_switch",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100937",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null,
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 177121,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 123,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 177121
+      },
+      "success": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tasks/toggle_part/toggle_switch_1/trajectory.json b/tasks/toggle_part/toggle_switch_1/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fd9097c45648c301ffddee5a087e05677646fd0
--- /dev/null
+++ b/tasks/toggle_part/toggle_switch_1/trajectory.json
@@ -0,0 +1,6505 @@
+{
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 351640,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 72,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 351640
+      },
+      "success": true
+    },
+    {
+      "episode_id": 1,
+      "episode_seed": 835856,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 73,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 835856
+      },
+      "success": true
+    },
+    {
+      "episode_id": 2,
+      "episode_seed": 928981,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 78,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 928981
+      },
+      "success": true
+    },
+    {
+      "episode_id": 3,
+      "episode_seed": 957076,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 81,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 957076
+      },
+      "success": true
+    },
+    {
+      "episode_id": 4,
+      "episode_seed": 939045,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 69,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 939045
+      },
+      "success": true
+    },
+    {
+      "episode_id": 5,
+      "episode_seed": 622687,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 72,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 622687
+      },
+      "success": true
+    },
+    {
+      "episode_id": 6,
+      "episode_seed": 56643,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 79,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 56643
+      },
+      "success": true
+    },
+    {
+      "episode_id": 7,
+      "episode_seed": 543053,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 78,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 543053
+      },
+      "success": true
+    },
+    {
+      "episode_id": 8,
+      "episode_seed": 656362,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null,
+        "seed": 656362
+      },
+      "success": true
+    },
+    {
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+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 83,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 907058
+      },
+      "success": true
+    },
+    {
+      "episode_id": 10,
+      "episode_seed": 120731,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null,
+        "seed": 120731
+      },
+      "success": true
+    },
+    {
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+      "reset_kwargs": {
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+        "seed": 90480
+      },
+      "success": true
+    },
+    {
+      "episode_id": 12,
+      "episode_seed": 14956,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 72,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 14956
+      },
+      "success": true
+    },
+    {
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+      "episode_seed": 560141,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null,
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+      },
+      "success": true
+    },
+    {
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+      "episode_seed": 152883,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 70,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 152883
+      },
+      "success": true
+    },
+    {
+      "episode_id": 15,
+      "episode_seed": 122925,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null,
+        "seed": 122925
+      },
+      "success": true
+    },
+    {
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+      "reset_kwargs": {
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+        "seed": 591172
+      },
+      "success": true
+    },
+    {
+      "episode_id": 17,
+      "episode_seed": 205241,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 76,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 205241
+      },
+      "success": true
+    },
+    {
+      "episode_id": 18,
+      "episode_seed": 924328,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null,
+        "seed": 924328
+      },
+      "success": true
+    },
+    {
+      "episode_id": 19,
+      "episode_seed": 774081,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 82,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 774081
+      },
+      "success": true
+    },
+    {
+      "episode_id": 20,
+      "episode_seed": 399238,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 76,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 399238
+      },
+      "success": true
+    },
+    {
+      "episode_id": 21,
+      "episode_seed": 955389,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null,
+        "seed": 955389
+      },
+      "success": true
+    },
+    {
+      "episode_id": 22,
+      "episode_seed": 239339,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null,
+        "seed": 239339
+      },
+      "success": true
+    },
+    {
+      "episode_id": 23,
+      "episode_seed": 709182,
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+      "reset_kwargs": {
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+        "seed": 709182
+      },
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+    },
+    {
+      "episode_id": 24,
+      "episode_seed": 848037,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+        "seed": 848037
+      },
+      "success": true
+    },
+    {
+      "episode_id": 25,
+      "episode_seed": 966404,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null,
+        "seed": 966404
+      },
+      "success": true
+    },
+    {
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+      "episode_seed": 432959,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null,
+        "seed": 432959
+      },
+      "success": true
+    },
+    {
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+      "episode_seed": 597666,
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 73,
+      "reset_kwargs": {
+        "options": null,
+        "seed": 597666
+      },
+      "success": true
+    },
+    {
+      "episode_id": 28,
+      "episode_seed": 486963,
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+      "reset_kwargs": {
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+        "seed": 486963
+      },
+      "success": true
+    },
+    {
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+      "episode_seed": 715434,
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+      "reset_kwargs": {
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+        "seed": 715434
+      },
+      "success": true
+    },
+    {
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+      "episode_seed": 100231,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
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+        "seed": 100231
+      },
+      "success": true
+    },
+    {
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+      "reset_kwargs": {
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+        "seed": 749710
+      },
+      "success": true
+    },
+    {
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+      "episode_seed": 317045,
+      "control_mode": "pd_joint_pos",
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+      "reset_kwargs": {
+        "options": null,
+        "seed": 317045
+      },
+      "success": true
+    },
+    {
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+      "reset_kwargs": {
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+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
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+      "object_name": "100920",
+      "part_name": "button"
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+    "max_episode_steps": 500
+  },
+  "commit_info": null
+}
\ No newline at end of file
diff --git a/tasks/toggle_part/toggle_switch_2/trajectory.json b/tasks/toggle_part/toggle_switch_2/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d15a27614ef2625b69314c3839b7628da58aaa3
--- /dev/null
+++ b/tasks/toggle_part/toggle_switch_2/trajectory.json
@@ -0,0 +1,13182 @@
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+      "render_mode": "rgb_array",
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+      "object_name": "102812",
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+    "max_episode_steps": 500
+  },
+  "commit_info": null
+}
\ No newline at end of file
diff --git a/tasks/toggle_part/toggle_switch_3/trajectory.json b/tasks/toggle_part/toggle_switch_3/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca24618f363f3ef570af8ef4ac90b29ee1e20130
--- /dev/null
+++ b/tasks/toggle_part/toggle_switch_3/trajectory.json
@@ -0,0 +1,13127 @@
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+      },
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+      },
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+      },
+      "success": true
+    },
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+        "seed": 788762
+      },
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+    },
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+      "reset_kwargs": {
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+        "seed": 376645
+      },
+      "success": true
+    },
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+    },
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+        "seed": 556761
+      },
+      "success": true
+    },
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+      },
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+    },
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+    },
+    {
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+      "reset_kwargs": {
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+        "seed": 186886
+      },
+      "success": true
+    }
+  ],
+  "env_info": {
+    "env_id": "toggle_switch_table",
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos",
+      "render_mode": "rgb_array",
+      "sensor_configs": {
+        "shader_pack": "default"
+      },
+      "human_render_camera_configs": {
+        "shader_pack": "default"
+      },
+      "viewer_camera_configs": {
+        "shader_pack": "default"
+      },
+      "sim_backend": "auto",
+      "object_name": "100849",
+      "part_name": "button"
+    },
+    "max_episode_steps": 500
+  },
+  "commit_info": null
+}
\ No newline at end of file