diff --git a/Oven/7187/partnet_mobility/bounding_box.json b/Oven/7187/partnet_mobility/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..1712e6144aaba9bcbaf08f4a0b38eaf2764922fc
--- /dev/null
+++ b/Oven/7187/partnet_mobility/bounding_box.json
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+{"min": [-0.53172, -0.808298, -0.488461], "max": [0.50725, 0.839976, 0.524999]}
\ No newline at end of file
diff --git a/Oven/7187/partnet_mobility/meta.json b/Oven/7187/partnet_mobility/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab32dbe9b3cc1e6e4920eff71ce4b8c41d21ef39
--- /dev/null
+++ b/Oven/7187/partnet_mobility/meta.json
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+{"model_id":"3a78c8e5c361ff554a44340bf227e40","anno_id":"7187","user_id":"huangfuchong","time_in_sec":"116","version":"2","model_cat":"Oven","original_model_cat":"Microwave"}
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diff --git a/Oven/7187/partnet_mobility/parts_render/0.txt b/Oven/7187/partnet_mobility/parts_render/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..71324ad6d3c0d0d6bcdc5d7b3605ac152240d0db
--- /dev/null
+++ b/Oven/7187/partnet_mobility/parts_render/0.txt
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+0 microwave Microwave
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diff --git a/Oven/7187/partnet_mobility/parts_render/1.txt b/Oven/7187/partnet_mobility/parts_render/1.txt
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+++ b/Oven/7187/partnet_mobility/parts_render/1.txt
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+1 body Body
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diff --git a/Oven/7187/partnet_mobility/parts_render/10.txt b/Oven/7187/partnet_mobility/parts_render/10.txt
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index 0000000000000000000000000000000000000000..6223609bb91c4431cd5dbfd7552cbfdb23dfab94
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+++ b/Oven/7187/partnet_mobility/parts_render/10.txt
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+10 door Door
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diff --git a/Oven/7187/partnet_mobility/parts_render/11.txt b/Oven/7187/partnet_mobility/parts_render/11.txt
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+++ b/Oven/7187/partnet_mobility/parts_render/11.txt
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+11 door_frame Door Frame
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diff --git a/Oven/7187/partnet_mobility/parts_render/12.txt b/Oven/7187/partnet_mobility/parts_render/12.txt
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+++ b/Oven/7187/partnet_mobility/parts_render/12.txt
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+12 glass Door Glass
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diff --git a/Oven/7187/partnet_mobility/parts_render/13.txt b/Oven/7187/partnet_mobility/parts_render/13.txt
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+++ b/Oven/7187/partnet_mobility/parts_render/13.txt
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+13 handle Handle
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diff --git a/Oven/7187/partnet_mobility/parts_render/3.txt b/Oven/7187/partnet_mobility/parts_render/3.txt
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+++ b/Oven/7187/partnet_mobility/parts_render/3.txt
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diff --git a/Oven/7187/partnet_mobility/parts_render/4.txt b/Oven/7187/partnet_mobility/parts_render/4.txt
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diff --git a/Oven/7187/partnet_mobility/parts_render/5.txt b/Oven/7187/partnet_mobility/parts_render/5.txt
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diff --git a/Oven/7187/partnet_mobility/parts_render/6.txt b/Oven/7187/partnet_mobility/parts_render/6.txt
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diff --git a/Oven/7187/partnet_mobility/parts_render/9.txt b/Oven/7187/partnet_mobility/parts_render/9.txt
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diff --git a/Oven/7187/partnet_mobility/parts_render_after_merging/0.txt b/Oven/7187/partnet_mobility/parts_render_after_merging/0.txt
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diff --git a/Oven/7187/partnet_mobility/parts_render_after_merging/1.txt b/Oven/7187/partnet_mobility/parts_render_after_merging/1.txt
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diff --git a/Oven/7187/partnet_mobility/parts_render_after_merging/3.txt b/Oven/7187/partnet_mobility/parts_render_after_merging/3.txt
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diff --git a/Oven/7187/partnet_mobility/parts_render_after_merging/4.txt b/Oven/7187/partnet_mobility/parts_render_after_merging/4.txt
new file mode 100644
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diff --git a/Oven/7187/partnet_mobility/parts_render_after_merging/5.txt b/Oven/7187/partnet_mobility/parts_render_after_merging/5.txt
new file mode 100644
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diff --git a/Oven/7187/partnet_mobility/parts_render_after_merging/6.txt b/Oven/7187/partnet_mobility/parts_render_after_merging/6.txt
new file mode 100644
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diff --git a/Oven/7187/partnet_mobility/parts_render_after_merging/7.txt b/Oven/7187/partnet_mobility/parts_render_after_merging/7.txt
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diff --git a/Oven/7187/partnet_mobility/parts_render_after_merging/8.txt b/Oven/7187/partnet_mobility/parts_render_after_merging/8.txt
new file mode 100644
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diff --git a/Oven/7187/partnet_mobility/parts_render_after_merging/9.txt b/Oven/7187/partnet_mobility/parts_render_after_merging/9.txt
new file mode 100644
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diff --git a/Oven/7187/partnet_mobility/point_sample/label-10000.txt b/Oven/7187/partnet_mobility/point_sample/label-10000.txt
new file mode 100644
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new file mode 100644
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diff --git a/Oven/7187/partnet_mobility/point_sample/pts-10000.txt b/Oven/7187/partnet_mobility/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8f25ba96668ad8e862778f479843ba1f7c5a6cda
--- /dev/null
+++ b/Oven/7187/partnet_mobility/point_sample/pts-10000.txt
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diff --git a/Oven/7187/partnet_mobility/point_sample/sample-points-all-label-10000.txt b/Oven/7187/partnet_mobility/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..369e0314832e1b754bc00a58ddfc72e255ee61e5
--- /dev/null
+++ b/Oven/7187/partnet_mobility/point_sample/sample-points-all-label-10000.txt
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diff --git a/Oven/7187/partnet_mobility/point_sample/sample-points-all-pts-label-10000.ply b/Oven/7187/partnet_mobility/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..601ee9ed4a615fe7c2ad8e31e7ac6f249f8dfb20
--- /dev/null
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diff --git a/Oven/7187/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/Oven/7187/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b6a761d0a77b64182b20e38f7516a42831aed5b
--- /dev/null
+++ b/Oven/7187/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/Oven/7187/partnet_mobility/result.json b/Oven/7187/partnet_mobility/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1abfdb978f0b8a9a577d07388982f1d711a9c6ea
--- /dev/null
+++ b/Oven/7187/partnet_mobility/result.json
@@ -0,0 +1 @@
+[{"text": "Microwave", "children": [{"text": "Body", "children": [{"text": "Door", "children": [{"text": "Door Frame", "objs": ["original-2"], "id": 6, "name": "door_frame"}, {"text": "Door Glass", "objs": ["original-4"], "id": 7, "name": "glass"}, {"text": "Handle", "objs": ["original-7"], "id": 8, "name": "handle"}], "id": 3, "name": "door"}, {"text": "Side Controls", "children": [{"text": "Display Panel", "objs": ["original-1"], "id": 5, "name": "display_panel"}], "id": 4, "name": "side_controls"}, {"text": "Frame", "objs": ["original-5", "original-9"], "id": 9, "name": "frame"}, {"text": "Door", "children": [{"text": "Door Frame", "objs": ["original-8"], "id": 11, "name": "door_frame"}, {"text": "Door Glass", "objs": ["original-3"], "id": 12, "name": "glass"}, {"text": "Handle", "objs": ["original-6"], "id": 13, "name": "handle"}], "id": 10, "name": "door"}], "id": 1, "name": "body"}], "id": 0, "name": "microwave"}]
\ No newline at end of file
diff --git a/Oven/7187/partnet_mobility/result_after_merging.json b/Oven/7187/partnet_mobility/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6b536626db6b04165b52e8f0b3257b2f70b638f
--- /dev/null
+++ b/Oven/7187/partnet_mobility/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "microwave", "objs": ["original-2", "original-4", "original-7", "original-1", "original-5", "original-9", "original-8", "original-3", "original-6"], "name": "microwave", "ori_id": 0, "children": [{"text": "body", "objs": ["original-2", "original-4", "original-7", "original-1", "original-5", "original-9", "original-8", "original-3", "original-6"], "name": "body", "ori_id": 1, "children": [{"text": "door", "objs": ["original-2", "original-4", "original-7"], "name": "door", "ori_id": 3, "children": [{"text": "door_frame", "ori_id": 6, "id": 3, "objs": ["original-2"], "name": "door_frame"}, {"text": "glass", "ori_id": 7, "id": 4, "objs": ["original-4"], "name": "glass"}, {"text": "handle", "ori_id": 8, "id": 5, "objs": ["original-7"], "name": "handle"}], "id": 2}, {"text": "frame", "ori_id": 9, "id": 6, "objs": ["original-5", "original-9"], "name": "frame"}, {"text": "door", "objs": ["original-8", "original-3", "original-6"], "name": "door", "ori_id": 10, "children": [{"text": "door_frame", "ori_id": 11, "id": 8, "objs": ["original-8"], "name": "door_frame"}, {"text": "glass", "ori_id": 12, "id": 9, "objs": ["original-3"], "name": "glass"}, {"text": "handle", "ori_id": 13, "id": 10, "objs": ["original-6"], "name": "handle"}], "id": 7}], "id": 1}], "id": 0}]
\ No newline at end of file
diff --git a/Oven/7187/partnet_mobility/semantics.txt b/Oven/7187/partnet_mobility/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e0bd61383469e21b97070456a911f5dbe584fb06
--- /dev/null
+++ b/Oven/7187/partnet_mobility/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge door
+link_1 hinge door
+link_2 static oven_body
diff --git a/Oven/7187/partnet_mobility/textured_objs/original-1.obj b/Oven/7187/partnet_mobility/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88059f4b2fe2a46e4286b766d26a46768aac72f4
--- /dev/null
+++ b/Oven/7187/partnet_mobility/textured_objs/original-1.obj
@@ -0,0 +1,87 @@
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+# 1
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diff --git a/Oven/7187/partnet_mobility/textured_objs/original-2.mtl b/Oven/7187/partnet_mobility/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/Oven/7187/partnet_mobility/textured_objs/original-2.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/Oven/7187/partnet_mobility/textured_objs/original-2.obj.convex.stl b/Oven/7187/partnet_mobility/textured_objs/original-2.obj.convex.stl
new file mode 100644
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diff --git a/Refrigerator/11712/hoi_trajectories/handle_2/trajectory.json b/Refrigerator/11712/hoi_trajectories/handle_2/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..54177410a444776ff87e1acfb47bfb8e5bc30f6a
--- /dev/null
+++ b/Refrigerator/11712/hoi_trajectories/handle_2/trajectory.json
@@ -0,0 +1,20370 @@
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\ No newline at end of file
diff --git a/Refrigerator/11712/hoi_trajectories/handle_3/trajectory.json b/Refrigerator/11712/hoi_trajectories/handle_3/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..bed33694f3c9916f10dd4d879867a5d0415ea38c
--- /dev/null
+++ b/Refrigerator/11712/hoi_trajectories/handle_3/trajectory.json
@@ -0,0 +1,20370 @@
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+    "phase": "drag",
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+    "virtual_xyz": [
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+      -0.0002868777955882251,
+      0.0021748910658061504,
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+    "wrist_pos": [
+      0.07603581249713898,
+      -0.18247322738170624,
+      0.6849513053894043
+    ],
+    "wrist_rot": [
+      -0.7238602638244629,
+      0.10433521121740341,
+      0.6738846898078918,
+      0.10497536510229111
+    ],
+    "joint_positions": [
+      -5.581768890833228e-20,
+      1.368691325187683
+    ]
+  }
+]
\ No newline at end of file
diff --git a/StorageFurniture/45524/partnet_mobility/bounding_box.json b/StorageFurniture/45524/partnet_mobility/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f28cb83b6a60f2ad17e371c3e3c46f6bce62a7c
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.452542, -0.753457, -0.526641], "max": [0.456358, 0.739737, 0.604075]}
\ No newline at end of file
diff --git a/StorageFurniture/45524/partnet_mobility/link_annotation_gapartnet.json b/StorageFurniture/45524/partnet_mobility/link_annotation_gapartnet.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6b39aee97419882b158d956db0630891af91f14
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/link_annotation_gapartnet.json
@@ -0,0 +1 @@
+[{"link_name": "link_0", "is_gapart": true, "category": "hinge_door", "bbox": [[-0.5445803218097474, 0.4448733349999705, -0.5512189198324771], [-0.5445802899008468, 0.4448733814732688, 0.7338102026880355], [-0.5445802899008468, -0.44868933494401136, 0.7338102350038843], [-0.5445803218097474, -0.4486893814173097, -0.5512188875166282], [-0.5099298815080683, 0.4448733349999705, -0.5512189198424251], [-0.5099298495991678, 0.4448733814732688, 0.7338102026780875], [-0.5099298495991678, -0.4486893349440114, 0.7338102349939363], [-0.5099298815080683, -0.44868938141730974, -0.5512188875265764]]}, {"link_name": "link_1", "is_gapart": false, "category": "", "bbox": []}, {"link_name": "link_2", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.6041055679354779, 0.18560532550000008, 0.6782231711767134], [-0.6041055679354779, -0.18942032550000001, 0.6782231711767134], [-0.6041055679354779, -0.18942032550000001, 0.656606202313255], [-0.6041055679354779, 0.18560532549999997, 0.656606202313255], [-0.5429085611087358, 0.18560532549999997, 0.6782231711767133], [-0.5429085611087356, -0.18942032550000001, 0.6782231711767133], [-0.5429085611087356, -0.18942032550000001, 0.6566062023132548], [-0.5429085611087356, 0.18560532550000008, 0.6566062023132548]]}]
\ No newline at end of file
diff --git a/StorageFurniture/45524/partnet_mobility/meta.json b/StorageFurniture/45524/partnet_mobility/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60ac982df3ae8ed95d91960b3da578a3d3d92a38
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/meta.json
@@ -0,0 +1 @@
+{"model_id": "24da7fd5e33513814da5feafe6f1c8fc", "anno_id": "45524", "user_id": "face++chendan", "time_in_sec": "245", "version": "3", "model_cat": "StorageFurniture"}
\ No newline at end of file
diff --git a/StorageFurniture/45524/partnet_mobility/mobility_annotation_gapartnet.urdf b/StorageFurniture/45524/partnet_mobility/mobility_annotation_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3791ea4d051ac99a607052c80ee745e8c64e7421
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/mobility_annotation_gapartnet.urdf
@@ -0,0 +1,315 @@
+<?xml version="1.0" ?>
+<robot name="partnet_24da7fd5e33513814da5feafe6f1c8fc">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="cabinet_door_surface-7">
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.43732207168396603 0.7316210269927979 0.5255454783912991"/>
+		<axis xyz="0 0.9999999999999999 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="1.5833626974092556"/>
+	</joint>
+	<link name="link_1">
+		<visual name="shelf-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shelf-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-35">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-18">
+			<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-2.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-21.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-9.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-16.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-12.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-6.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-3.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-8.obj"/>
+			</geometry>
+		</collision>
+		<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-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_2">
+		<visual name="handle-1">
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+	</joint>
+</robot>
diff --git a/StorageFurniture/45524/partnet_mobility/mobility_texture_gapartnet.urdf b/StorageFurniture/45524/partnet_mobility/mobility_texture_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6bdfd7bfbd58119985ecd36a1ba0c560cfa5e03a
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/mobility_texture_gapartnet.urdf
@@ -0,0 +1,308 @@
+<?xml version="1.0" ?>
+<robot name="partnet_24da7fd5e33513814da5feafe6f1c8fc">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="cabinet_door_surface-7">
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-8">
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-8">
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-8">
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.43732207168396603 -0.7316210269927979 -0.5255454783912991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.43732207168396603 0.7316210269927979 0.5255454783912991"/>
+		<axis xyz="0 0.9999999999999999 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="1.5833626974092556"/>
+	</joint>
+	<link name="link_1">
+		<visual name="shelf-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shelf-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-35">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-18">
+			<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-2.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-21.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-9.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-16.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-12.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-6.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-3.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-8.obj"/>
+			</geometry>
+		</collision>
+		<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-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.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/StorageFurniture/45524/partnet_mobility/parts_render/0.txt b/StorageFurniture/45524/partnet_mobility/parts_render/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..000055119a8f586744ae4cc6685e399ee604f6b6
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/parts_render/0.txt
@@ -0,0 +1 @@
+0 storage_furniture Storage Furniture
\ No newline at end of file
diff --git a/StorageFurniture/45524/partnet_mobility/parts_render/12.txt b/StorageFurniture/45524/partnet_mobility/parts_render/12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ae62addcd03df74880e745358e7723244c2051a7
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/parts_render/12.txt
@@ -0,0 +1 @@
+12 cabinet_frame Cabinet frame
\ No newline at end of file
diff --git a/StorageFurniture/45524/partnet_mobility/parts_render/14.txt b/StorageFurniture/45524/partnet_mobility/parts_render/14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be66c37b3f8f2b5b2e3f011f62c4f01d11b08c61
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/parts_render/14.txt
@@ -0,0 +1 @@
+14 panel_base Panel Base
\ No newline at end of file
diff --git a/StorageFurniture/45524/partnet_mobility/parts_render/26.txt b/StorageFurniture/45524/partnet_mobility/parts_render/26.txt
new file mode 100644
index 0000000000000000000000000000000000000000..21f11322592747805cbe9d10dedf9a89ed5ce284
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/parts_render/26.txt
@@ -0,0 +1 @@
+26 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/45524/partnet_mobility/parts_render/28.txt b/StorageFurniture/45524/partnet_mobility/parts_render/28.txt
new file mode 100644
index 0000000000000000000000000000000000000000..22d901a90748c6aca8ab49831ef197d66db51767
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/parts_render/28.txt
@@ -0,0 +1 @@
+28 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/45524/partnet_mobility/parts_render/33.txt b/StorageFurniture/45524/partnet_mobility/parts_render/33.txt
new file mode 100644
index 0000000000000000000000000000000000000000..27ecf1f43660146d9781757bae8cdc8b1e202cea
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/parts_render/33.txt
@@ -0,0 +1 @@
+33 bottom_panel Bottom panel
\ No newline at end of file
diff --git a/StorageFurniture/45524/partnet_mobility/parts_render/36.txt b/StorageFurniture/45524/partnet_mobility/parts_render/36.txt
new file mode 100644
index 0000000000000000000000000000000000000000..797d9526dd3e68d32bcb4ee0f787a4bd3c33e8a5
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/parts_render/36.txt
@@ -0,0 +1 @@
+36 other rectangle (other)
\ No newline at end of file
diff --git a/StorageFurniture/45524/partnet_mobility/parts_render/6.txt b/StorageFurniture/45524/partnet_mobility/parts_render/6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bb6c819780da4f28cbc88f00d1b20a3d8098585f
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/parts_render/6.txt
@@ -0,0 +1 @@
+6 cabinet_door Cabinet door
\ No newline at end of file
diff --git a/StorageFurniture/45524/partnet_mobility/parts_render/7.txt b/StorageFurniture/45524/partnet_mobility/parts_render/7.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4396e849e537aefb34d8472d80a5feab445484d8
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/parts_render/7.txt
@@ -0,0 +1 @@
+7 cabinet_door_surface Cabinet door surface
\ No newline at end of file
diff --git a/StorageFurniture/45524/partnet_mobility/result.json b/StorageFurniture/45524/partnet_mobility/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f48effc245fa6a0a707bbb96076164895a88a6c8
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/result.json
@@ -0,0 +1 @@
+[{"text": "Storage Furniture", "children": [{"text": "Cabinet", "children": [{"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["original-28"], "id": 7, "name": "cabinet_door_surface"}, {"text": "Handle", "objs": ["original-27", "original-25", "original-26"], "id": 8, "name": "handle"}], "id": 6, "name": "cabinet_door"}, {"text": "Shelf", "objs": ["original-2"], "id": 10, "name": "shelf"}, {"text": "Shelf", "objs": ["original-22"], "id": 11, "name": "shelf"}, {"text": "Cabinet frame", "children": [{"text": "Horizontal support bar", "objs": ["original-21"], "id": 26, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-20"], "id": 27, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-9"], "id": 28, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-7"], "id": 29, "name": "frame_horizontal_bar"}, {"text": "Vertical side panel", "objs": ["original-16", "original-15"], "id": 30, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-12", "original-11"], "id": 31, "name": "vertical_side_panel"}, {"text": "Back panel", "objs": ["original-6", "original-5"], "id": 32, "name": "back_panel"}, {"text": "Bottom panel", "objs": ["original-3"], "id": 33, "name": "bottom_panel"}, {"text": "Vertical support bar", "objs": ["original-4"], "id": 34, "name": "frame_vertical_bar"}, {"text": "Vertical support bar", "objs": ["original-8"], "id": 35, "name": "frame_vertical_bar"}, {"name": "other", "text": "rectangle (other)", "children": [{"objs": ["original-29"], "name": "other_leaf", "text": "other_leaf", "id": 37, "conf_score": "3", "low_conf_reason": "\u81ea\u5df1\u6807\u6ce8"}], "conf_score": "3", "id": 36, "low_conf_reason": "\u81ea\u5df1\u6807\u6ce8"}], "id": 12, "name": "cabinet_frame"}, {"text": "Cabinet Base", "children": [{"text": "Panel Base", "children": [{"text": "Base side panel", "objs": ["original-13"], "id": 15, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-18"], "id": 16, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-17"], "id": 17, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-19"], "id": 18, "name": "base_side_panel"}], "id": 14, "name": "panel_base"}], "id": 13, "name": "cabinet_base"}], "id": 1, "name": "cabinet"}], "id": 0, "name": "storage_furniture"}]
\ No newline at end of file
diff --git a/StorageFurniture/45524/partnet_mobility/result_after_merging.json b/StorageFurniture/45524/partnet_mobility/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e10b44b9576d2f195bbf44e3948f2e341a88a35
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"id": 3, "ori_id": 7, "text": "cabinet_door_surface", "name": "cabinet_door_surface", "objs": ["original-28"]}, {"id": 4, "ori_id": 8, "text": "handle", "name": "handle", "objs": ["original-27", "original-25", "original-26"]}], "objs": ["original-28", "original-27", "original-25", "original-26"], "text": "cabinet_door", "id": 2, "ori_id": 6, "name": "cabinet_door"}, {"id": 5, "ori_id": 10, "text": "shelf", "name": "shelf", "objs": ["original-2"]}, {"id": 6, "ori_id": 11, "text": "shelf", "name": "shelf", "objs": ["original-22"]}, {"children": [{"id": 8, "ori_id": 26, "text": "frame_horizontal_bar", "name": "frame_horizontal_bar", "objs": ["original-21"]}, {"id": 9, "ori_id": 27, "text": "frame_horizontal_bar", "name": "frame_horizontal_bar", "objs": ["original-20"]}, {"id": 10, "ori_id": 28, "text": "frame_horizontal_bar", "name": "frame_horizontal_bar", "objs": ["original-9"]}, {"id": 11, "ori_id": 29, "text": "frame_horizontal_bar", "name": "frame_horizontal_bar", "objs": ["original-7"]}, {"id": 12, "ori_id": 30, "text": "vertical_side_panel", "name": "vertical_side_panel", "objs": ["original-16", "original-15"]}, {"id": 13, "ori_id": 31, "text": "vertical_side_panel", "name": "vertical_side_panel", "objs": ["original-12", "original-11"]}, {"id": 14, "ori_id": 32, "text": "back_panel", "name": "back_panel", "objs": ["original-6", "original-5"]}, {"id": 15, "ori_id": 33, "text": "bottom_panel", "name": "bottom_panel", "objs": ["original-3"]}, {"id": 16, "ori_id": 34, "text": "frame_vertical_bar", "name": "frame_vertical_bar", "objs": ["original-4"]}, {"id": 17, "ori_id": 35, "text": "frame_vertical_bar", "name": "frame_vertical_bar", "objs": ["original-8"]}], "objs": ["original-21", "original-20", "original-9", "original-7", "original-16", "original-15", "original-12", "original-11", "original-6", "original-5", "original-3", "original-4", "original-8", "original-29"], "text": "cabinet_frame", "id": 7, "ori_id": 12, "name": "cabinet_frame"}, {"children": [{"children": [{"id": 20, "ori_id": 15, "text": "base_side_panel", "name": "base_side_panel", "objs": ["original-13"]}, {"id": 21, "ori_id": 16, "text": "base_side_panel", "name": "base_side_panel", "objs": ["original-18"]}, {"id": 22, "ori_id": 17, "text": "base_side_panel", "name": "base_side_panel", "objs": ["original-17"]}, {"id": 23, "ori_id": 18, "text": "base_side_panel", "name": "base_side_panel", "objs": ["original-19"]}], "objs": ["original-13", "original-18", "original-17", "original-19"], "text": "panel_base", "id": 19, "ori_id": 14, "name": "panel_base"}], "objs": ["original-13", "original-18", "original-17", "original-19"], "text": "cabinet_base", "id": 18, "ori_id": 13, "name": "cabinet_base"}], "objs": ["original-28", "original-27", "original-25", "original-26", "original-2", "original-22", "original-21", "original-20", "original-9", "original-7", "original-16", "original-15", "original-12", "original-11", "original-6", "original-5", "original-3", "original-4", "original-8", "original-29", "original-13", "original-18", "original-17", "original-19"], "text": "cabinet", "id": 1, "ori_id": 1, "name": "cabinet"}], "objs": ["original-28", "original-27", "original-25", "original-26", "original-2", "original-22", "original-21", "original-20", "original-9", "original-7", "original-16", "original-15", "original-12", "original-11", "original-6", "original-5", "original-3", "original-4", "original-8", "original-29", "original-13", "original-18", "original-17", "original-19"], "text": "storage_furniture", "id": 0, "ori_id": 0, "name": "storage_furniture"}]
\ No newline at end of file
diff --git a/StorageFurniture/45524/partnet_mobility/semantics.txt b/StorageFurniture/45524/partnet_mobility/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..487fd832b4719c99450a470485cbca2fb1c2e99a
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotation_door
+link_1 heavy furniture_body
diff --git a/StorageFurniture/45524/partnet_mobility/tree_hier_after_merging.html b/StorageFurniture/45524/partnet_mobility/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..6c7adf3320c297a9efc339e9c6140218cd3ed81b
--- /dev/null
+++ b/StorageFurniture/45524/partnet_mobility/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 storage_furniture storage_furniture</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 cabinet cabinet</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 cabinet_door cabinet_door</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>5 shelf shelf</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 shelf shelf</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 cabinet_frame cabinet_frame</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 cabinet_base cabinet_base</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 cabinet_door_surface cabinet_door_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 handle handle</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 frame_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 frame_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 frame_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 frame_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 vertical_side_panel vertical_side_panel</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 vertical_side_panel vertical_side_panel</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 back_panel back_panel</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 bottom_panel bottom_panel</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 frame_vertical_bar frame_vertical_bar</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 frame_vertical_bar frame_vertical_bar</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>19 panel_base panel_base</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>20 base_side_panel base_side_panel</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 base_side_panel base_side_panel</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 base_side_panel base_side_panel</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 base_side_panel base_side_panel</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/bounding_box.json b/StorageFurniture/46462/partnet_mobility/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f89c6aa8d7956d15fdc23344b47f85b517d8a77
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.584428, -0.806531, -0.423322], "max": [0.595123, 0.700673, 0.433796]}
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/link_annotation_gapartnet.json b/StorageFurniture/46462/partnet_mobility/link_annotation_gapartnet.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb211b4db7c3495e17a3726ba4f7731e38de6354
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/link_annotation_gapartnet.json
@@ -0,0 +1 @@
+[{"link_name": "link_0", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.24889519199999963, -0.587513584500001, -0.10347089462997525], [-0.3961331920000029, -0.5875135844999999, -0.1034708946299764], [-0.39613319200000086, 0.5768185844999998, -0.1034708946299764], [0.2488951920000017, 0.5768185844999987, -0.10347089462997525], [0.24889519200000051, -0.587513584500001, -0.601997014045661], [-0.396133192000002, -0.5875135844999999, -0.6019970140456621], [-0.39613319199999997, 0.5768185844999998, -0.6019970140456621], [0.2488951920000026, 0.5768185844999987, -0.601997014045661]]}, {"link_name": "link_1", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.2488951772812873, -0.5875140855508313, 0.3770367114788392], [-0.3961333559803839, -0.5875140086574462, 0.37703667303214045], [-0.39613321707940385, 0.5776719860376941, 0.37703667303214045], [0.24889531618226723, 0.577671909144309, 0.3770367114788392], [0.24889520503883153, -0.5875140855508346, -0.08865757773486359], [-0.39613332822283964, -0.5875140086574495, -0.08865761618156233], [-0.3961331893218597, 0.5776719860376908, -0.08865761618156233], [0.24889534393981147, 0.5776719091443057, -0.08865757773486359]]}, {"link_name": "link_2", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.24903139489616993, -0.5875140980617465, 0.6936573119098356], [-0.3961333286107136, -0.5875140596069256, 0.6936573119098266], [-0.39613325915426334, 0.5777716046992817, 0.6936573119098266], [0.2490314643526202, 0.5777715662444607, 0.6936573119098356], [0.24903139489617415, -0.5875140980617465, 0.39198231318745996], [-0.3961333286107094, -0.5875140596069256, 0.3919823131874509], [-0.3961332591542591, 0.5777716046992817, 0.3919823131874509], [0.2490314643526244, 0.5777715662444607, 0.39198231318745996]]}, {"link_name": "link_3", "is_gapart": false, "category": "", "bbox": []}, {"link_name": "link_4", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.43382416151029823, 0.27053894799999995, -0.3088623241902087], [-0.43382416151029823, 0.046419052, -0.3088623241902087], [-0.43382416151029823, 0.046419052, -0.3533001967395351], [-0.43382416151029823, 0.27053894799999995, -0.3533001967395351], [-0.37744481789333295, 0.27053894799999995, -0.3088623241902087], [-0.37744481789333295, 0.046419052, -0.3088623241902087], [-0.37744481789333295, 0.046419052, -0.3533001967395351], [-0.37744481789333295, 0.27053894799999995, -0.3533001967395351]]}, {"link_name": "link_5", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.433823319836689, 0.27053894799999995, 0.20480059380804072], [-0.433823319836689, 0.046419052, 0.20480059380804072], [-0.433823319836689, 0.046419052, 0.16002263338640277], [-0.433823319836689, 0.27053894799999995, 0.16002263338640277], [-0.379129006785329, 0.27053894799999995, 0.20480059380804072], [-0.379129006785329, 0.046419052, 0.20480059380804072], [-0.379129006785329, 0.046419052, 0.16002263338640277], [-0.379129006785329, 0.27053894799999995, 0.16002263338640277]]}, {"link_name": "link_6", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.4338233527101506, -0.1840790515, 0.5650844160488481], [-0.4338233527101506, -0.40819994849999997, 0.5650844160488481], [-0.4338233527101506, -0.40819994849999997, 0.5204417009415049], [-0.4338233527101506, -0.1840790515, 0.5204417009415049], [-0.37906322698866657, -0.1840790515, 0.5650844160488481], [-0.37906322698866657, -0.40819994849999997, 0.5650844160488481], [-0.37906322698866657, -0.40819994849999997, 0.5204417009415049], [-0.37906322698866657, -0.1840790515, 0.5204417009415049]]}, {"link_name": "link_7", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.4338233391498466, 0.39750494799999997, 0.5649765536749595], [-0.4338233391498466, 0.17338505200000004, 0.5649765536749595], [-0.4338233391498466, 0.17338505200000004, 0.5204417548457397], [-0.4338233391498466, 0.39750494799999997, 0.5204417548457397], [-0.37909036115681216, 0.39750494799999997, 0.5649765536749595], [-0.37909036115681216, 0.17338505200000004, 0.5649765536749595], [-0.37909036115681216, 0.17338505200000004, 0.5204417548457397], [-0.37909036115681216, 0.39750494799999997, 0.5204417548457397]]}]
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/meta.json b/StorageFurniture/46462/partnet_mobility/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5b70f8275456ee6138ad0a03c1759d6fc0a66e1
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/meta.json
@@ -0,0 +1 @@
+{"model_id": "59b0ac376af08592824662341ce2b233", "anno_id": "46462", "user_id": "face++chendan", "time_in_sec": "467", "version": "3", "model_cat": "StorageFurniture"}
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/mobility_annotation_gapartnet.urdf b/StorageFurniture/46462/partnet_mobility/mobility_annotation_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..61db20681ab49b8fb7600fad5f36edbebab42d05
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/mobility_annotation_gapartnet.urdf
@@ -0,0 +1,966 @@
+<?xml version="1.0" ?>
+<robot name="partnet_59b0ac376af08592824662341ce2b233">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<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-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.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-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-37.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-30.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-31.obj"/>
+			</geometry>
+		</collision>
+		<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-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.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_3"/>
+		<limit lower="0" upper="0.5"/>
+	</joint>
+	<link name="link_1">
+		<visual name="drawer_front-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
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+			</geometry>
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+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
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+			</geometry>
+		</collision>
+	</link>
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+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
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+		<limit lower="0" upper="0.5"/>
+	</joint>
+	<link name="link_2">
+		<visual name="drawer_front-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-10">
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+		</visual>
+		<visual name="drawer_front-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="drawer_front-10">
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+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="drawer_front-10">
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+			<geometry>
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+		</visual>
+		<visual name="drawer_front-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="drawer_front-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.5"/>
+	</joint>
+	<link name="link_3">
+		<visual name="vertical_side_panel-40">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-40">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-41">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-41">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-42">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-43">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-44">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-45">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-46">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-47">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-48">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-49">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-50">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-52">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-38">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-39">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+		<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-15.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-5.obj"/>
+			</geometry>
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+		<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-3.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-4.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-20.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-22.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-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.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-18.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-19.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>
+	<link name="link_4">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_5">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_5"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_6">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_6"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_7">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_7"/>
+		<parent link="link_2"/>
+	</joint>
+</robot>
diff --git a/StorageFurniture/46462/partnet_mobility/mobility_texture_gapartnet.urdf b/StorageFurniture/46462/partnet_mobility/mobility_texture_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eaed735901a7907c6477d7df490dad02d7eba5cb
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/mobility_texture_gapartnet.urdf
@@ -0,0 +1,938 @@
+<?xml version="1.0" ?>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.5"/>
+	</joint>
+	<link name="link_3">
+		<visual name="vertical_side_panel-40">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-40">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-41">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-41">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-42">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-43">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-44">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-45">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-46">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-47">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-48">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-49">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-50">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-52">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-38">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-39">
+			<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-11.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-15.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-5.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-3.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-4.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-20.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-22.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-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.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-18.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-19.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/StorageFurniture/46462/partnet_mobility/parts_render/26.txt b/StorageFurniture/46462/partnet_mobility/parts_render/26.txt
new file mode 100644
index 0000000000000000000000000000000000000000..82be79653c1cb2af05782f822995841622161569
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render/26.txt
@@ -0,0 +1 @@
+26 drawer_box Drawer box
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render/42.txt b/StorageFurniture/46462/partnet_mobility/parts_render/42.txt
new file mode 100644
index 0000000000000000000000000000000000000000..88f1156bdb7d581d0fbee8f613a9f9a5f6a768e7
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render/42.txt
@@ -0,0 +1 @@
+42 back_panel Back panel
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render/48.txt b/StorageFurniture/46462/partnet_mobility/parts_render/48.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6916b340dff5311975304f20e8057c8bf5c6eb1a
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render/48.txt
@@ -0,0 +1 @@
+48 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render/49.txt b/StorageFurniture/46462/partnet_mobility/parts_render/49.txt
new file mode 100644
index 0000000000000000000000000000000000000000..187a284f7c14cc8d42d0932aebe3924a0f3bb0d0
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render/49.txt
@@ -0,0 +1 @@
+49 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render/50.txt b/StorageFurniture/46462/partnet_mobility/parts_render/50.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1e1d613e137033d1e00c90a9dc91df0b2ad7abc0
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render/50.txt
@@ -0,0 +1 @@
+50 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render/6.txt b/StorageFurniture/46462/partnet_mobility/parts_render/6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3104690ac0119fc813221738751239f77194afe7
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render/6.txt
@@ -0,0 +1 @@
+6 drawer Drawer
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/0.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dedfd2e8af99066d66a3ab6aea175d037cdd934a
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/0.txt
@@ -0,0 +1 @@
+0 storage_furniture storage_furniture
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/12.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..06f10b2caba0abe36056adbabe54c690b6667d0f
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/12.txt
@@ -0,0 +1 @@
+12 frame_horizontal_bar frame_horizontal_bar
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/14.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..123c4487950ffbfba998c5c35e02d4904ada2572
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/14.txt
@@ -0,0 +1 @@
+14 frame_horizontal_bar frame_horizontal_bar
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/23.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/23.txt
new file mode 100644
index 0000000000000000000000000000000000000000..241ee924e7bba10437467c912248ee2fa1632a52
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/23.txt
@@ -0,0 +1 @@
+23 drawer_box drawer_box
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/28.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/28.txt
new file mode 100644
index 0000000000000000000000000000000000000000..81f2371b76f9c722636adc71291884e78910f6b1
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/28.txt
@@ -0,0 +1 @@
+28 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/33.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/33.txt
new file mode 100644
index 0000000000000000000000000000000000000000..55e1179d3ccee99bbe7d65255ecd9bb38aeafb1c
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/33.txt
@@ -0,0 +1 @@
+33 drawer_side drawer_side
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/34.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/34.txt
new file mode 100644
index 0000000000000000000000000000000000000000..84abde295a9680dfb4905a370a58f6935670854a
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/34.txt
@@ -0,0 +1 @@
+34 drawer_side drawer_side
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/35.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/35.txt
new file mode 100644
index 0000000000000000000000000000000000000000..890807d1f80771a1a4a6cc7822e657a5443cf9e1
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/35.txt
@@ -0,0 +1 @@
+35 drawer_back drawer_back
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/36.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/36.txt
new file mode 100644
index 0000000000000000000000000000000000000000..608591aaa7491be66c2b4875b138dc8f6b3e0ffd
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/36.txt
@@ -0,0 +1 @@
+36 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/37.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/37.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b982958ce4ca70267ae7d036cd583dc43a59e80
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/37.txt
@@ -0,0 +1 @@
+37 handle handle
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/38.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/38.txt
new file mode 100644
index 0000000000000000000000000000000000000000..446c678d793759e4046a6e2f43e0fabea31e6679
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/38.txt
@@ -0,0 +1 @@
+38 drawer drawer
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/39.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/39.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fca356c730d04a62a51beb36d595925106a5cbfe
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/39.txt
@@ -0,0 +1 @@
+39 drawer_box drawer_box
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/40.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/40.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7a3ecc23a8703108b2f4df1933ad6b9b3788181b
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/40.txt
@@ -0,0 +1 @@
+40 drawer_front drawer_front
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/41.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/41.txt
new file mode 100644
index 0000000000000000000000000000000000000000..13f5c8ca7fc57c0cc8be6162b1f15740726ae725
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/41.txt
@@ -0,0 +1 @@
+41 drawer_side drawer_side
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/42.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/42.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b974ee8a4cef052a15bef61f834cbdbc4c369cc9
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/42.txt
@@ -0,0 +1 @@
+42 drawer_side drawer_side
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/43.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/43.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b402021a2bbaf8298231a4d4cc485693aa4cef9
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/43.txt
@@ -0,0 +1 @@
+43 drawer_back drawer_back
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/44.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/44.txt
new file mode 100644
index 0000000000000000000000000000000000000000..550fce5f88cb022f07886c67f856ac9a44e53c8f
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/44.txt
@@ -0,0 +1 @@
+44 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/6.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fa9cab535316349b5b28c7d43458e28d249b24ee
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/6.txt
@@ -0,0 +1 @@
+6 bottom_panel bottom_panel
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/7.txt b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/7.txt
new file mode 100644
index 0000000000000000000000000000000000000000..47924123021fb1b7400a73099f1e36e832c59914
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/parts_render_after_merging/7.txt
@@ -0,0 +1 @@
+7 frame_vertical_bar frame_vertical_bar
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/result.json b/StorageFurniture/46462/partnet_mobility/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d4b6926bc94b39f74858b34e5978b5aff1d8822
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/result.json
@@ -0,0 +1 @@
+[{"text": "Storage Furniture", "children": [{"text": "Cabinet", "children": [{"text": "Cabinet frame", "children": [{"text": "Vertical side panel", "objs": ["original-11", "original-10"], "id": 40, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-15", "original-14"], "id": 41, "name": "vertical_side_panel"}, {"text": "Back panel", "objs": ["original-5"], "id": 42, "name": "back_panel"}, {"text": "Bottom panel", "objs": ["original-2"], "id": 43, "name": "bottom_panel"}, {"text": "Vertical support bar", "objs": ["original-3"], "id": 44, "name": "frame_vertical_bar"}, {"text": "Vertical support bar", "objs": ["original-7"], "id": 45, "name": "frame_vertical_bar"}, {"text": "Horizontal support bar", "objs": ["original-4"], "id": 46, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-21"], "id": 47, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-20"], "id": 48, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-8"], "id": 49, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-22"], "id": 50, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-17"], "id": 51, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-6"], "id": 52, "name": "frame_horizontal_bar"}, {"name": "other", "text": "rectangle (other)", "children": [{"objs": ["original-93"], "name": "other_leaf", "text": "other_leaf", "id": 54, "conf_score": "3", "low_conf_reason": "\u81ea\u5df1\u6807\u6ce8"}], "conf_score": "3", "id": 53, "low_conf_reason": "\u81ea\u5df1\u6807\u6ce8"}], "id": 2, "name": "cabinet_frame"}, {"text": "Cabinet Base", "children": [{"text": "Panel Base", "children": [{"text": "Base side panel", "objs": ["original-12"], "id": 36, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-18"], "id": 37, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-16"], "id": 38, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-19"], "id": 39, "name": "base_side_panel"}], "id": 35, "name": "panel_base"}], "id": 3, "name": "cabinet_base"}, {"text": "Drawer", "children": [{"text": "Drawer box", "conf_score": "2", "children": [{"text": "Drawer front", "objs": ["original-44", "original-26", "original-40", "original-35", "original-38", "original-39", "original-34", "original-36", "original-41", "original-37", "original-43"], "id": 28, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-30"], "id": 29, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-25"], "id": 30, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-31"], "id": 31, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-29", "original-28"], "id": 32, "name": "drawer_bottom"}, {"name": "other", "text": "rectangle (other)", "children": [{"objs": ["original-32"], "name": "other_leaf", "text": "other_leaf", "id": 34, "conf_score": "3", "low_conf_reason": "\u81ea\u5df1\u6807\u6ce8"}], "conf_score": "3", "id": 33, "low_conf_reason": "\u81ea\u5df1\u6807\u6ce8"}], "id": 26, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-45"], "id": 27, "name": "handle"}], "id": 4, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-63", "original-58", "original-61", "original-60", "original-64", "original-59", "original-62", "original-57", "original-67", "original-49", "original-66"], "id": 19, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-53"], "id": 20, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-48"], "id": 21, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-54"], "id": 22, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-51", "original-52"], "id": 23, "name": "drawer_bottom"}, {"name": "other", "text": "rectangle (other)", "children": [{"objs": ["original-55"], "name": "other_leaf", "text": "other_leaf", "id": 25, "conf_score": "3", "low_conf_reason": "\u81ea\u5df1\u6807\u6ce8"}], "conf_score": "3", "id": 24, "low_conf_reason": "\u81ea\u5df1\u6807\u6ce8"}], "id": 17, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-68"], "id": 18, "name": "handle"}], "id": 5, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-86", "original-90", "original-81", "original-87", "original-84", "original-83", "original-85", "original-80", "original-82", "original-72", "original-89"], "id": 10, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-71"], "id": 11, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-76"], "id": 12, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-77"], "id": 13, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-75", "original-74"], "id": 14, "name": "drawer_bottom"}, {"text": "rectangle (other)", "children": [{"objs": ["original-78"], "name": "other_leaf", "text": "other_leaf", "id": 16, "conf_score": "3", "low_conf_reason": "\u81ea\u5df1\u6807\u6ce8"}], "id": 15, "name": "other"}], "id": 7, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-92"], "id": 8, "name": "handle"}, {"text": "Handle", "objs": ["original-91"], "id": 9, "name": "handle"}], "id": 6, "name": "drawer"}], "id": 1, "name": "cabinet"}], "id": 0, "name": "storage_furniture"}]
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/result_after_merging.json b/StorageFurniture/46462/partnet_mobility/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..35aff9adaa0fb09ca10283047500967ace9d5576
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"ori_id": 40, "objs": ["original-11", "original-10"], "name": "vertical_side_panel", "id": 3, "text": "vertical_side_panel"}, {"ori_id": 41, "objs": ["original-15", "original-14"], "name": "vertical_side_panel", "id": 4, "text": "vertical_side_panel"}, {"ori_id": 42, "objs": ["original-5"], "name": "back_panel", "id": 5, "text": "back_panel"}, {"ori_id": 43, "objs": ["original-2"], "name": "bottom_panel", "id": 6, "text": "bottom_panel"}, {"ori_id": 44, "objs": ["original-3"], "name": "frame_vertical_bar", "id": 7, "text": "frame_vertical_bar"}, {"ori_id": 45, "objs": ["original-7"], "name": "frame_vertical_bar", "id": 8, "text": "frame_vertical_bar"}, {"ori_id": 46, "objs": ["original-4"], "name": "frame_horizontal_bar", "id": 9, "text": "frame_horizontal_bar"}, {"ori_id": 47, "objs": ["original-21"], "name": "frame_horizontal_bar", "id": 10, "text": "frame_horizontal_bar"}, {"ori_id": 48, "objs": ["original-20"], "name": "frame_horizontal_bar", "id": 11, "text": "frame_horizontal_bar"}, {"ori_id": 49, "objs": ["original-8"], "name": "frame_horizontal_bar", "id": 12, "text": "frame_horizontal_bar"}, {"ori_id": 50, "objs": ["original-22"], "name": "frame_horizontal_bar", "id": 13, "text": "frame_horizontal_bar"}, {"ori_id": 51, "objs": ["original-17"], "name": "frame_horizontal_bar", "id": 14, "text": "frame_horizontal_bar"}, {"ori_id": 52, "objs": ["original-6"], "name": "frame_horizontal_bar", "id": 15, "text": "frame_horizontal_bar"}], "ori_id": 2, "text": "cabinet_frame", "objs": ["original-11", "original-10", "original-15", "original-14", "original-5", "original-2", "original-3", "original-7", "original-4", "original-21", "original-20", "original-8", "original-22", "original-17", "original-6", "original-93"], "id": 2, "name": "cabinet_frame"}, {"children": [{"children": [{"ori_id": 36, "objs": ["original-12"], "name": "base_side_panel", "id": 18, "text": "base_side_panel"}, {"ori_id": 37, "objs": ["original-18"], "name": "base_side_panel", "id": 19, "text": "base_side_panel"}, {"ori_id": 38, "objs": ["original-16"], "name": "base_side_panel", "id": 20, "text": "base_side_panel"}, {"ori_id": 39, "objs": ["original-19"], "name": "base_side_panel", "id": 21, "text": "base_side_panel"}], "ori_id": 35, "text": "panel_base", "objs": ["original-12", "original-18", "original-16", "original-19"], "id": 17, "name": "panel_base"}], "ori_id": 3, "text": "cabinet_base", "objs": ["original-12", "original-18", "original-16", "original-19"], "id": 16, "name": "cabinet_base"}, {"children": [{"children": [{"ori_id": 28, "objs": ["original-44", "original-26", "original-40", "original-35", "original-38", "original-39", "original-34", "original-36", "original-41", "original-37", "original-43"], "name": "drawer_front", "id": 24, "text": "drawer_front"}, {"ori_id": 29, "objs": ["original-30"], "name": "drawer_side", "id": 25, "text": "drawer_side"}, {"ori_id": 30, "objs": ["original-25"], "name": "drawer_side", "id": 26, "text": "drawer_side"}, {"ori_id": 31, "objs": ["original-31"], "name": "drawer_back", "id": 27, "text": "drawer_back"}, {"ori_id": 32, "objs": ["original-29", "original-28"], "name": "drawer_bottom", "id": 28, "text": "drawer_bottom"}], "ori_id": 26, "text": "drawer_box", "objs": ["original-44", "original-26", "original-40", "original-35", "original-38", "original-39", "original-34", "original-36", "original-41", "original-37", "original-43", "original-30", "original-25", "original-31", "original-29", "original-28", "original-32"], "id": 23, "name": "drawer_box"}, {"ori_id": 27, "objs": ["original-45"], "name": "handle", "id": 29, "text": "handle"}], "ori_id": 4, "text": "drawer", "objs": ["original-44", "original-26", "original-40", "original-35", "original-38", "original-39", "original-34", "original-36", "original-41", "original-37", "original-43", "original-30", "original-25", "original-31", "original-29", "original-28", "original-32", "original-45"], "id": 22, "name": "drawer"}, {"children": [{"children": [{"ori_id": 19, "objs": ["original-63", "original-58", "original-61", "original-60", "original-64", "original-59", "original-62", "original-57", "original-67", "original-49", "original-66"], "name": "drawer_front", "id": 32, "text": "drawer_front"}, {"ori_id": 20, "objs": ["original-53"], "name": "drawer_side", "id": 33, "text": "drawer_side"}, {"ori_id": 21, "objs": ["original-48"], "name": "drawer_side", "id": 34, "text": "drawer_side"}, {"ori_id": 22, "objs": ["original-54"], "name": "drawer_back", "id": 35, "text": "drawer_back"}, {"ori_id": 23, "objs": ["original-51", "original-52"], "name": "drawer_bottom", "id": 36, "text": "drawer_bottom"}], "ori_id": 17, "text": "drawer_box", "objs": ["original-63", "original-58", "original-61", "original-60", "original-64", "original-59", "original-62", "original-57", "original-67", "original-49", "original-66", "original-53", "original-48", "original-54", "original-51", "original-52", "original-55"], "id": 31, "name": "drawer_box"}, {"ori_id": 18, "objs": ["original-68"], "name": "handle", "id": 37, "text": "handle"}], "ori_id": 5, "text": "drawer", "objs": ["original-63", "original-58", "original-61", "original-60", "original-64", "original-59", "original-62", "original-57", "original-67", "original-49", "original-66", "original-53", "original-48", "original-54", "original-51", "original-52", "original-55", "original-68"], "id": 30, "name": "drawer"}, {"children": [{"children": [{"ori_id": 10, "objs": ["original-86", "original-90", "original-81", "original-87", "original-84", "original-83", "original-85", "original-80", "original-82", "original-72", "original-89"], "name": "drawer_front", "id": 40, "text": "drawer_front"}, {"ori_id": 11, "objs": ["original-71"], "name": "drawer_side", "id": 41, "text": "drawer_side"}, {"ori_id": 12, "objs": ["original-76"], "name": "drawer_side", "id": 42, "text": "drawer_side"}, {"ori_id": 13, "objs": ["original-77"], "name": "drawer_back", "id": 43, "text": "drawer_back"}, {"ori_id": 14, "objs": ["original-75", "original-74"], "name": "drawer_bottom", "id": 44, "text": "drawer_bottom"}], "ori_id": 7, "text": "drawer_box", "objs": ["original-86", "original-90", "original-81", "original-87", "original-84", "original-83", "original-85", "original-80", "original-82", "original-72", "original-89", "original-71", "original-76", "original-77", "original-75", "original-74", "original-78"], "id": 39, "name": "drawer_box"}, {"ori_id": 8, "objs": ["original-92"], "name": "handle", "id": 45, "text": "handle"}, {"ori_id": 9, "objs": ["original-91"], "name": "handle", "id": 46, "text": "handle"}], "ori_id": 6, "text": "drawer", "objs": ["original-86", "original-90", "original-81", "original-87", "original-84", "original-83", "original-85", "original-80", "original-82", "original-72", "original-89", "original-71", "original-76", "original-77", "original-75", "original-74", "original-78", "original-92", "original-91"], "id": 38, "name": "drawer"}], "ori_id": 1, "text": "cabinet", "objs": ["original-11", "original-10", "original-15", "original-14", "original-5", "original-2", "original-3", "original-7", "original-4", "original-21", "original-20", "original-8", "original-22", "original-17", "original-6", "original-93", "original-12", "original-18", "original-16", "original-19", "original-44", "original-26", "original-40", "original-35", "original-38", "original-39", "original-34", "original-36", "original-41", "original-37", "original-43", "original-30", "original-25", "original-31", "original-29", "original-28", "original-32", "original-45", "original-63", "original-58", "original-61", "original-60", "original-64", "original-59", "original-62", "original-57", "original-67", "original-49", "original-66", "original-53", "original-48", "original-54", "original-51", "original-52", "original-55", "original-68", "original-86", "original-90", "original-81", "original-87", "original-84", "original-83", "original-85", "original-80", "original-82", "original-72", "original-89", "original-71", "original-76", "original-77", "original-75", "original-74", "original-78", "original-92", "original-91"], "id": 1, "name": "cabinet"}], "ori_id": 0, "text": "storage_furniture", "objs": ["original-11", "original-10", "original-15", "original-14", "original-5", "original-2", "original-3", "original-7", "original-4", "original-21", "original-20", "original-8", "original-22", "original-17", "original-6", "original-93", "original-12", "original-18", "original-16", "original-19", "original-44", "original-26", "original-40", "original-35", "original-38", "original-39", "original-34", "original-36", "original-41", "original-37", "original-43", "original-30", "original-25", "original-31", "original-29", "original-28", "original-32", "original-45", "original-63", "original-58", "original-61", "original-60", "original-64", "original-59", "original-62", "original-57", "original-67", "original-49", "original-66", "original-53", "original-48", "original-54", "original-51", "original-52", "original-55", "original-68", "original-86", "original-90", "original-81", "original-87", "original-84", "original-83", "original-85", "original-80", "original-82", "original-72", "original-89", "original-71", "original-76", "original-77", "original-75", "original-74", "original-78", "original-92", "original-91"], "id": 0, "name": "storage_furniture"}]
\ No newline at end of file
diff --git a/StorageFurniture/46462/partnet_mobility/semantics.txt b/StorageFurniture/46462/partnet_mobility/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..935b1b0ee0e1adeaea0334617306dcc5ecc2f4c0
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/semantics.txt
@@ -0,0 +1,4 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 slider drawer
+link_3 heavy furniture_body
diff --git a/StorageFurniture/46462/partnet_mobility/tree_hier_after_merging.html b/StorageFurniture/46462/partnet_mobility/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..239e9fbb3ba9de240c45d37a54afd624f6738f38
--- /dev/null
+++ b/StorageFurniture/46462/partnet_mobility/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 storage_furniture storage_furniture</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 cabinet cabinet</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 cabinet_frame cabinet_frame</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 cabinet_base cabinet_base</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>22 drawer drawer</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>30 drawer drawer</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>38 drawer drawer</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 vertical_side_panel vertical_side_panel</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 vertical_side_panel vertical_side_panel</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 back_panel back_panel</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 bottom_panel bottom_panel</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 frame_vertical_bar frame_vertical_bar</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 frame_vertical_bar frame_vertical_bar</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 frame_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 frame_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 frame_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 frame_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 frame_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 frame_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 frame_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>17 panel_base panel_base</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>23 drawer_box drawer_box</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>29 handle handle</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>31 drawer_box drawer_box</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>37 handle handle</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>39 drawer_box drawer_box</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>45 handle handle</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 handle handle</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 base_side_panel base_side_panel</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 base_side_panel base_side_panel</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 base_side_panel base_side_panel</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 base_side_panel base_side_panel</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>24 drawer_front drawer_front</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 drawer_side drawer_side</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 drawer_side drawer_side</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 drawer_back drawer_back</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 drawer_bottom drawer_bottom</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>32 drawer_front drawer_front</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 drawer_side drawer_side</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 drawer_side drawer_side</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 drawer_back drawer_back</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 drawer_bottom drawer_bottom</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>40 drawer_front drawer_front</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 drawer_side drawer_side</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 drawer_side drawer_side</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 drawer_back drawer_back</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 drawer_bottom drawer_bottom</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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