The closest I can come up with is something like this.

select *

from security_assignment sa

join matter m on m.r_type = sa.r_type

join [group] g on g.group_id = sa.group_id

join category c on c.category_id = m.category_id and m.r_type = sa.r_type

This returns both 61 and 494 for all the values that match but obviously is not totally correct as the matter gets mixed into it. Unless you can explain this in a way that makes sense I am going to leave this to somebody else.