diff --git a/StorageFurniture/45801/hoi_trajectories/handle_4/trajectory.json b/StorageFurniture/45801/hoi_trajectories/handle_4/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..99a7c0e609e22cc2dbaaeec43a8ad13a197c13e1
--- /dev/null
+++ b/StorageFurniture/45801/hoi_trajectories/handle_4/trajectory.json
@@ -0,0 +1,21764 @@
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\ No newline at end of file
diff --git a/StorageFurniture/45801/hoi_trajectories/handle_5/trajectory.json b/StorageFurniture/45801/hoi_trajectories/handle_5/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0971c163e94aefcbe86982f5d7763557c8e2176
--- /dev/null
+++ b/StorageFurniture/45801/hoi_trajectories/handle_5/trajectory.json
@@ -0,0 +1,21842 @@
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\ No newline at end of file
diff --git a/StorageFurniture/45801/hoi_trajectories/handle_6/trajectory.json b/StorageFurniture/45801/hoi_trajectories/handle_6/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..321dfda594865505750fdee5b745aed68a79f125
--- /dev/null
+++ b/StorageFurniture/45801/hoi_trajectories/handle_6/trajectory.json
@@ -0,0 +1,21842 @@
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\ No newline at end of file
diff --git a/StorageFurniture/45801/hoi_trajectories/handle_7/trajectory.json b/StorageFurniture/45801/hoi_trajectories/handle_7/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4e221a141fbc1d15c6abf7cf49bba567adde943
--- /dev/null
+++ b/StorageFurniture/45801/hoi_trajectories/handle_7/trajectory.json
@@ -0,0 +1,21842 @@
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\ No newline at end of file
diff --git a/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/11.txt b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6971b36080be4616782086aa2bea4413b8698efa
--- /dev/null
+++ b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/11.txt
@@ -0,0 +1 @@
+11 frame_horizontal_bar frame_horizontal_bar
\ No newline at end of file
diff --git a/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/13.txt b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e70aac981b3eaf057afafb14541bb169242962c1
--- /dev/null
+++ b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/13.txt
@@ -0,0 +1 @@
+13 frame_vertical_bar frame_vertical_bar
\ No newline at end of file
diff --git a/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/16.txt b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/16.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba54bd8f5104f9d30e739fa940ad8de81adb7161
--- /dev/null
+++ b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/16.txt
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diff --git a/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/17.txt b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/17.txt
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index 0000000000000000000000000000000000000000..9959fdad95e0bcb43d8eaa5c094de65d67a7b955
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diff --git a/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/18.txt b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/18.txt
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+++ b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/18.txt
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diff --git a/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/24.txt b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/24.txt
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diff --git a/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/25.txt b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/25.txt
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diff --git a/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/27.txt b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/27.txt
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diff --git a/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/29.txt b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/29.txt
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diff --git a/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/31.txt b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/31.txt
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--- /dev/null
+++ b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/31.txt
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diff --git a/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/32.txt b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/32.txt
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diff --git a/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/4.txt b/StorageFurniture/45801/partnet_mobility/parts_render_after_merging/4.txt
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index 0000000000000000000000000000000000000000..d5ce572e31df19c04936bd6836ff8fa3a0826a85
--- /dev/null
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diff --git a/StorageFurniture/45801/partnet_mobility/point_sample/label-10000.txt b/StorageFurniture/45801/partnet_mobility/point_sample/label-10000.txt
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diff --git a/StorageFurniture/45801/partnet_mobility/point_sample/pts-10000.pts b/StorageFurniture/45801/partnet_mobility/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..8aa1dd7fcb115dad06e45ad1bd7c62caf10a7219
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diff --git a/StorageFurniture/45801/partnet_mobility/point_sample/pts-10000.txt b/StorageFurniture/45801/partnet_mobility/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..50e39325a190c77914961c3ee463049c470d1256
--- /dev/null
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diff --git a/StorageFurniture/45801/partnet_mobility/point_sample/sample-points-all-label-10000.txt b/StorageFurniture/45801/partnet_mobility/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c5989432550ec439ebd764b7d89dd8eccd693e5e
--- /dev/null
+++ b/StorageFurniture/45801/partnet_mobility/point_sample/sample-points-all-label-10000.txt
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diff --git a/StorageFurniture/45801/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/StorageFurniture/45801/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..197e3641724915aefa5df21a02b288755d1dbe8e
--- /dev/null
+++ b/StorageFurniture/45801/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
@@ -0,0 +1,10000 @@
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+illum 3
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+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
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+d 1
+Ns 30
+Kd 0.4196078431372549 0.3843137254901961 0.34901960784313724 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/48169/partnet_mobility/link_annotation_gapartnet.json b/StorageFurniture/48169/partnet_mobility/link_annotation_gapartnet.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c6a638db18f7e00b05d9ca962ddc792fecb84cd
--- /dev/null
+++ b/StorageFurniture/48169/partnet_mobility/link_annotation_gapartnet.json
@@ -0,0 +1 @@
+[{"link_name": "link_0", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.38000810036435095, -0.4773860685799165, -0.4825900920721464], [-0.4369100701559783, -0.4773861172720341, -0.482590140764268], [-0.436910124464257, 0.43375560067522356, -0.482590140764268], [0.38000804605607225, 0.4337556493673411, -0.4825900920721464], [0.38000811952280017, -0.4773860685799154, -0.8040155049909895], [-0.43691005099752905, -0.477386117272033, -0.8040155536831111], [-0.4369101053058078, 0.4337556006752247, -0.8040155536831111], [0.38000806521452146, 0.43375564936734223, -0.8040155049909895]]}, {"link_name": "link_1", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.396843464499995, -0.477386075496484, -0.15955642439551876], [-0.43691846450001726, -0.4773860754964722, -0.15955642439553042], [-0.4369184645000045, 0.43367506844117193, -0.15955642439553042], [0.39684346450000785, 0.43367506844116016, -0.15955642439551876], [0.3968434644999999, -0.477386075496484, 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-0.4773860237233052, 0.8045542089402035], [-0.43691846442392906, 0.43357147033386456, 0.8045542089402035], [0.3968434848560687, 0.4335714703338603, 0.8045541592441217], [0.3968434644999587, -0.47738602372330946, 0.46303536302392256], [-0.436918484780039, -0.4773860237233052, 0.4630354127200044], [-0.4369184847800343, 0.43357147033386456, 0.4630354127200044], [0.3968434644999634, 0.4335714703338603, 0.46303536302392256]]}, {"link_name": "link_4", "is_gapart": false, "category": "", "bbox": []}, {"link_name": "link_5", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.38000806538438103, -0.4773860917991019, 0.4865087607601997], [-0.43691010513594686, -0.47738604310698324, 0.4865088094523143], [-0.4369100508363317, 0.43361030577234116, 0.4865088094523143], [0.3800081196839962, 0.43361025708022244, 0.4865087607601997], [0.38000804623351125, -0.4773860917991008, 0.1652104626718245], [-0.43691012428681664, -0.4773860431069821, 0.16521051136393905], [-0.4369100699872015, 0.4336103057723423, 0.16521051136393905], [0.38000810053312645, 0.43361025708022355, 0.1652104626718245]]}, {"link_name": "link_6", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.45858803750000005, 0.040608411999999997, -0.614880992], [-0.45858803750000005, -0.086342412, -0.614880992], [-0.45858803750000005, -0.086342412, -0.672955008], [-0.45858803750000005, 0.040608411999999997, -0.672955008], [-0.4364909625, 0.040608411999999997, -0.614880992], [-0.4364909625, -0.086342412, -0.614880992], [-0.4364909625, -0.086342412, -0.672955008], [-0.4364909625, 0.040608411999999997, -0.672955008]]}, {"link_name": "link_7", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.4585880375, 0.040608411999999997, -0.29145277720970486], [-0.4585880375, -0.086342412, -0.29145277720970486], [-0.4585880375, -0.086342412, -0.34987918401938545], [-0.4585880375, 0.040608411999999997, -0.34987918401938545], [-0.43649096249999997, 0.040608411999999997, -0.29145277720970486], [-0.43649096249999997, -0.086342412, -0.29145277720970486], [-0.43649096249999997, -0.086342412, -0.34987918401938545], [-0.43649096249999997, 0.040608411999999997, -0.34987918401938545]]}, {"link_name": "link_8", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.45858809616147406, 0.040608411999999997, 0.03151479170016337], [-0.45858809616147406, -0.086342412, 0.03151479170016337], [-0.45858809616147406, -0.086342412, -0.026804130330684735], [-0.45858809616147406, 0.040608411999999997, -0.026804130330684735], [-0.43637358089044725, 0.040608411999999997, 0.03151479170016337], [-0.43637358089044725, -0.086342412, 0.03151479170016337], [-0.43637358089044725, -0.086342412, -0.026804130330684735], [-0.43637358089044725, 0.040608411999999997, -0.026804130330684735]]}, {"link_name": "link_9", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.45858803750000005, 0.04157500257391188, 0.6760718546160516], [-0.45858803750000005, -0.08634289505376005, 0.6760718546160516], [-0.45858803750000005, -0.08634289505376005, 0.6168214043705067], [-0.45858803750000005, 0.04157500257391188, 0.6168214043705067], [-0.4364909625, 0.04157500257391188, 0.6760718546160516], [-0.4364909625, -0.08634289505376005, 0.6760718546160516], [-0.4364909625, -0.08634289505376005, 0.6168214043705067], [-0.4364909625, 0.04157500257391188, 0.6168214043705067]]}, {"link_name": "link_10", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.4585880667706208, 0.040608411999999997, 0.3555819040764385], [-0.4585880667706208, -0.086342412, 0.3555819040764385], [-0.4585880667706208, -0.086342412, 0.2962703738610313], [-0.4585880667706208, 0.040608411999999997, 0.2962703738610313], [-0.4364323919876616, 0.040608411999999997, 0.3555819040764385], [-0.4364323919876616, -0.086342412, 0.3555819040764385], [-0.4364323919876616, -0.086342412, 0.2962703738610313], [-0.4364323919876616, 0.040608411999999997, 0.2962703738610313]]}]
\ No newline at end of file
diff --git a/StorageFurniture/48169/partnet_mobility/mobility.urdf b/StorageFurniture/48169/partnet_mobility/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1e962b72e1fe95cc506a4478041932f27deba9e1
--- /dev/null
+++ b/StorageFurniture/48169/partnet_mobility/mobility.urdf
@@ -0,0 +1,848 @@
+<?xml version="1.0" ?>
+<robot name="partnet_b50c25e6b5447714e90f8ac2c1271ce3">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-52">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-53">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-55">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-48">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-48">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.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_4"/>
+		<limit lower="0" upper="0.5"/>
+	</joint>
+	<link name="link_1">
+		<visual name="drawer_front-42">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-42">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-42">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-43">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-44">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-45">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-46">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-39">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-39">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-40">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-41">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.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-76.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-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+		<limit lower="0" upper="0.5"/>
+	</joint>
+	<link name="link_2">
+		<visual name="drawer_front-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-35">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.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-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.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-73.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-26.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_4"/>
+		<limit lower="0" upper="0.5"/>
+	</joint>
+	<link name="link_3">
+		<visual name="drawer_front-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.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-3.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-8.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-10.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-66.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.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-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+		<limit lower="0" upper="0.5"/>
+	</joint>
+	<link name="link_4">
+		<visual name="vertical_side_panel-56">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-57">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-58">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-59">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-60">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-61">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-62">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-63">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-64">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-65">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-66">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.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-30.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-22.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-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_5">
+		<visual name="handle-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.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-12.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-14.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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
+		<limit lower="0" upper="0.52"/>
+	</joint>
+</robot>
diff --git a/StorageFurniture/48169/partnet_mobility/mobility_annotation_gapartnet.urdf b/StorageFurniture/48169/partnet_mobility/mobility_annotation_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5d7f6d8bcc81fbd8d9407e51b8c2b681c0c0cb71
--- /dev/null
+++ b/StorageFurniture/48169/partnet_mobility/mobility_annotation_gapartnet.urdf
@@ -0,0 +1,883 @@
+<?xml version="1.0" ?>
+<robot name="partnet_b50c25e6b5447714e90f8ac2c1271ce3">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-52">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-53">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-55">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.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_4"/>
+		<limit lower="0" upper="0.5"/>
+	</joint>
+	<link name="link_1">
+		<visual name="drawer_front-42">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-42">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-42">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-43">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-44">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-45">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-46">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-40">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-41">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.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-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+		<limit lower="0" upper="0.5"/>
+	</joint>
+	<link name="link_2">
+		<visual name="drawer_front-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-35">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.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-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.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-26.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_4"/>
+		<limit lower="0" upper="0.5"/>
+	</joint>
+	<link name="link_3">
+		<visual name="drawer_front-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.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-3.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-8.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-10.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-40.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-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+		<limit lower="0" upper="0.5"/>
+	</joint>
+	<link name="link_4">
+		<visual name="vertical_side_panel-56">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-57">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-58">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-59">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-60">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-61">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-62">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-63">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-64">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-65">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-66">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.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-30.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-22.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-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_5">
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<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-12.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-14.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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
+		<limit lower="0" upper="0.52"/>
+	</joint>
+	<link name="link_6">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.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_0"/>
+	</joint>
+	<link name="link_7">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<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-76.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_1"/>
+	</joint>
+	<link name="link_8">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<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-73.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_8"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_9">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_9"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_10">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_10"/>
+		<parent link="link_5"/>
+	</joint>
+</robot>
diff --git a/StorageFurniture/48169/partnet_mobility/mobility_texture_gapartnet.urdf b/StorageFurniture/48169/partnet_mobility/mobility_texture_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1e962b72e1fe95cc506a4478041932f27deba9e1
--- /dev/null
+++ b/StorageFurniture/48169/partnet_mobility/mobility_texture_gapartnet.urdf
@@ -0,0 +1,848 @@
+<?xml version="1.0" ?>
+<robot name="partnet_b50c25e6b5447714e90f8ac2c1271ce3">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-51">
+			<origin xyz="0 0 0"/>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.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-23.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-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_5">
+		<visual name="handle-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.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-12.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-14.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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
+		<limit lower="0" upper="0.52"/>
+	</joint>
+</robot>
diff --git a/StorageFurniture/48169/partnet_mobility/mobility_v2.json b/StorageFurniture/48169/partnet_mobility/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e324789eb1fbf4864096e0dcc360ff3c22e8621
--- /dev/null
+++ b/StorageFurniture/48169/partnet_mobility/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":51,"name":"drawer_front","children":[]},{"id":52,"name":"drawer_side","children":[]},{"id":53,"name":"drawer_side","children":[]},{"id":54,"name":"drawer_back","children":[]},{"id":55,"name":"drawer_bottom","children":[]},{"id":48,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.5,"noLimit":false}}},{"id":1,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":42,"name":"drawer_front","children":[]},{"id":43,"name":"drawer_side","children":[]},{"id":44,"name":"drawer_side","children":[]},{"id":45,"name":"drawer_back","children":[]},{"id":46,"name":"drawer_bottom","children":[]},{"id":39,"name":"handle","children":[]},{"id":40,"name":"drawer_rails","children":[]},{"id":41,"name":"drawer_rails","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.5,"noLimit":false}}},{"id":2,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":33,"name":"drawer_front","children":[]},{"id":34,"name":"drawer_side","children":[]},{"id":35,"name":"drawer_side","children":[]},{"id":36,"name":"drawer_back","children":[]},{"id":37,"name":"drawer_bottom","children":[]},{"id":30,"name":"handle","children":[]},{"id":31,"name":"drawer_rails","children":[]},{"id":32,"name":"drawer_rails","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.5,"noLimit":false}}},{"id":3,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":10,"name":"drawer_front","children":[]},{"id":11,"name":"drawer_side","children":[]},{"id":12,"name":"drawer_side","children":[]},{"id":13,"name":"drawer_back","children":[]},{"id":14,"name":"drawer_bottom","children":[]},{"id":9,"name":"handle","children":[]},{"id":22,"name":"drawer_rails","children":[]},{"id":23,"name":"drawer_rails","children":[]},{"id":25,"name":"other_leaf","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.5,"noLimit":false}}},{"id":4,"parent":-1,"joint":"heavy","name":"cabinet_frame","parts":[{"id":56,"name":"vertical_side_panel","children":[]},{"id":57,"name":"vertical_side_panel","children":[]},{"id":58,"name":"back_panel","children":[]},{"id":59,"name":"top_panel","children":[]},{"id":60,"name":"frame_vertical_bar","children":[]},{"id":61,"name":"frame_vertical_bar","children":[]},{"id":62,"name":"frame_horizontal_bar","children":[]},{"id":63,"name":"frame_horizontal_bar","children":[]},{"id":64,"name":"frame_horizontal_bar","children":[]},{"id":65,"name":"frame_vertical_bar","children":[]},{"id":66,"name":"frame_vertical_bar","children":[]},{"id":26,"name":"drawer_rails","children":[]},{"id":27,"name":"drawer_rails","children":[]}],"jointData":{}},{"id":5,"parent":4,"joint":"slider","name":"handle","parts":[{"id":16,"name":"handle","children":[]},{"id":17,"name":"drawer_front","children":[]},{"id":18,"name":"drawer_side","children":[]},{"id":19,"name":"drawer_side","children":[]},{"id":20,"name":"drawer_back","children":[]},{"id":21,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.52,"noLimit":false}}}]
\ No newline at end of file
diff --git a/StorageFurniture/48169/partnet_mobility/result.json b/StorageFurniture/48169/partnet_mobility/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c95b441225c27fcc7331661256d3f57d79dd0a34
--- /dev/null
+++ b/StorageFurniture/48169/partnet_mobility/result.json
@@ -0,0 +1 @@
+[{"text": "Storage Furniture", "children": [{"text": "Cabinet", "children": [{"text": "Cabinet frame", "children": [{"text": "Vertical side panel", "objs": ["original-29"], "id": 56, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-20"], "id": 57, "name": "vertical_side_panel"}, {"text": "Back panel", "objs": ["original-31"], "id": 58, "name": "back_panel"}, {"text": "Top panel", "objs": ["original-30"], "id": 59, "name": "top_panel"}, {"text": "Vertical support bar", "objs": ["original-35"], "id": 60, "name": "frame_vertical_bar"}, {"text": "Vertical support bar", "objs": ["original-22"], "id": 61, "name": "frame_vertical_bar"}, {"text": "Horizontal support bar", "objs": ["original-36"], "id": 62, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-24"], "id": 63, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-32"], "id": 64, "name": "frame_horizontal_bar"}, {"text": "Vertical support bar", "objs": ["original-34"], "id": 65, "name": "frame_vertical_bar"}, {"text": "Vertical support bar", "objs": ["original-23"], "id": 66, "name": "frame_vertical_bar"}], "id": 2, "name": "cabinet_frame"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-62", "original-58", "original-59"], "id": 51, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-63"], "id": 52, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-60"], "id": 53, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-61"], "id": 54, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-64"], "id": 55, "name": "drawer_bottom"}], "id": 47, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-78", "original-79"], "id": 48, "name": "handle"}], "id": 3, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-54", "original-50", "original-51"], "id": 42, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-55"], "id": 43, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-52"], "id": 44, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-53"], "id": 45, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-56"], "id": 46, "name": "drawer_bottom"}], "id": 38, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-75", "original-76"], "id": 39, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-37"], "id": 40, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-25"], "id": 41, "name": "drawer_rails"}], "id": 4, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-46", "original-43", "original-42"], "id": 33, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-47"], "id": 34, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-44"], "id": 35, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-45"], "id": 36, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-48"], "id": 37, "name": "drawer_bottom"}], "id": 29, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-72", "original-73"], "id": 30, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-38"], "id": 31, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-26"], "id": 32, "name": "drawer_rails"}], "id": 5, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-16", "original-12", "original-13"], "id": 17, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-14"], "id": 18, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-17"], "id": 19, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-15"], "id": 20, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-18"], "id": 21, "name": "drawer_bottom"}], "id": 15, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-69", "original-70"], "id": 16, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-39"], "id": 26, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-27"], "id": 27, "name": "drawer_rails"}], "id": 6, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-5", "original-7", "original-3"], "id": 10, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-6"], "id": 11, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-8"], "id": 12, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-4"], "id": 13, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-10", "original-2"], "id": 14, "name": "drawer_bottom"}], "id": 8, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-66", "original-67"], "id": 9, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-40"], "id": 22, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-28"], "id": 23, "name": "drawer_rails"}, {"text": "Partition plate (other)", "children": [{"text": "other_leaf", "objs": ["original-9"], "id": 25, "name": "other_leaf"}], "id": 24, "name": "other"}], "id": 7, "name": "drawer"}], "id": 1, "name": "cabinet"}], "id": 0, "name": "storage_furniture"}]
\ No newline at end of file
diff --git a/StorageFurniture/48169/partnet_mobility/result_after_merging.json b/StorageFurniture/48169/partnet_mobility/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..401521ecb331675d87052555292d35e210a30790
--- /dev/null
+++ b/StorageFurniture/48169/partnet_mobility/result_after_merging.json
@@ -0,0 +1 @@
+[{"id": 0, "ori_id": 0, "text": "storage_furniture", "objs": ["original-29", "original-20", "original-31", "original-30", "original-35", "original-22", "original-36", "original-24", "original-32", "original-34", "original-23", "original-62", "original-58", "original-59", "original-63", "original-60", "original-61", "original-64", "original-78", "original-79", "original-54", "original-50", "original-51", "original-55", "original-52", "original-53", "original-56", "original-75", "original-76", "original-37", "original-25", "original-46", "original-43", "original-42", "original-47", "original-44", "original-45", "original-48", "original-72", "original-73", "original-38", "original-26", "original-16", "original-12", "original-13", "original-14", "original-17", "original-15", "original-18", "original-69", "original-70", "original-39", "original-27", "original-5", "original-7", "original-3", "original-6", "original-8", "original-4", "original-10", "original-2", "original-66", "original-67", "original-40", "original-28", "original-9"], "name": "storage_furniture", "children": [{"id": 1, "ori_id": 1, "text": "cabinet", "objs": ["original-29", "original-20", "original-31", "original-30", "original-35", "original-22", "original-36", "original-24", "original-32", "original-34", "original-23", "original-62", "original-58", "original-59", "original-63", "original-60", "original-61", "original-64", "original-78", "original-79", "original-54", "original-50", "original-51", "original-55", "original-52", "original-53", "original-56", "original-75", "original-76", "original-37", "original-25", "original-46", "original-43", "original-42", "original-47", "original-44", "original-45", "original-48", "original-72", "original-73", "original-38", "original-26", "original-16", "original-12", "original-13", "original-14", "original-17", "original-15", "original-18", "original-69", "original-70", "original-39", "original-27", "original-5", "original-7", "original-3", "original-6", "original-8", "original-4", "original-10", "original-2", "original-66", "original-67", "original-40", "original-28", "original-9"], "name": "cabinet", "children": [{"id": 2, "ori_id": 2, "text": "cabinet_frame", "objs": ["original-29", "original-20", "original-31", "original-30", "original-35", "original-22", "original-36", "original-24", "original-32", "original-34", "original-23"], "name": "cabinet_frame", "children": [{"name": "vertical_side_panel", "id": 3, "text": "vertical_side_panel", "ori_id": 56, "objs": ["original-29"]}, {"name": "vertical_side_panel", "id": 4, "text": "vertical_side_panel", "ori_id": 57, "objs": ["original-20"]}, {"name": "back_panel", "id": 5, "text": "back_panel", "ori_id": 58, "objs": ["original-31"]}, {"name": "top_panel", "id": 6, "text": "top_panel", "ori_id": 59, "objs": ["original-30"]}, {"name": "frame_vertical_bar", "id": 7, "text": "frame_vertical_bar", "ori_id": 60, "objs": ["original-35"]}, {"name": "frame_vertical_bar", "id": 8, "text": "frame_vertical_bar", "ori_id": 61, "objs": ["original-22"]}, {"name": "frame_horizontal_bar", "id": 9, "text": "frame_horizontal_bar", "ori_id": 62, "objs": ["original-36"]}, {"name": "frame_horizontal_bar", "id": 10, "text": "frame_horizontal_bar", "ori_id": 63, "objs": ["original-24"]}, {"name": "frame_horizontal_bar", "id": 11, "text": "frame_horizontal_bar", "ori_id": 64, "objs": ["original-32"]}, {"name": "frame_vertical_bar", "id": 12, "text": "frame_vertical_bar", "ori_id": 65, "objs": ["original-34"]}, {"name": "frame_vertical_bar", "id": 13, "text": "frame_vertical_bar", "ori_id": 66, "objs": ["original-23"]}]}, {"id": 14, "ori_id": 3, "text": "drawer", "objs": ["original-62", "original-58", "original-59", "original-63", "original-60", "original-61", "original-64", "original-78", "original-79"], "name": "drawer", "children": [{"id": 15, "ori_id": 47, "text": "drawer_box", "objs": ["original-62", "original-58", "original-59", "original-63", "original-60", "original-61", "original-64"], "name": "drawer_box", "children": [{"name": "drawer_front", "id": 16, "text": "drawer_front", "ori_id": 51, "objs": ["original-62", "original-58", "original-59"]}, {"name": "drawer_side", "id": 17, "text": "drawer_side", "ori_id": 52, "objs": ["original-63"]}, {"name": "drawer_side", "id": 18, "text": "drawer_side", "ori_id": 53, "objs": ["original-60"]}, {"name": "drawer_back", "id": 19, "text": "drawer_back", "ori_id": 54, "objs": ["original-61"]}, {"name": "drawer_bottom", "id": 20, "text": "drawer_bottom", "ori_id": 55, "objs": ["original-64"]}]}, {"name": "handle", "id": 21, "text": "handle", "ori_id": 48, "objs": ["original-78", "original-79"]}]}, {"id": 22, "ori_id": 4, "text": "drawer", "objs": ["original-54", "original-50", "original-51", "original-55", "original-52", "original-53", "original-56", "original-75", "original-76", "original-37", "original-25"], "name": "drawer", "children": [{"id": 23, "ori_id": 38, "text": "drawer_box", "objs": ["original-54", "original-50", "original-51", "original-55", "original-52", "original-53", "original-56"], "name": "drawer_box", "children": [{"name": "drawer_front", "id": 24, "text": "drawer_front", "ori_id": 42, "objs": ["original-54", "original-50", "original-51"]}, {"name": "drawer_side", "id": 25, "text": "drawer_side", "ori_id": 43, "objs": ["original-55"]}, {"name": "drawer_side", "id": 26, "text": "drawer_side", "ori_id": 44, "objs": ["original-52"]}, {"name": "drawer_back", "id": 27, "text": "drawer_back", "ori_id": 45, "objs": ["original-53"]}, {"name": "drawer_bottom", "id": 28, "text": "drawer_bottom", "ori_id": 46, "objs": ["original-56"]}]}, {"name": "handle", "id": 29, "text": "handle", "ori_id": 39, "objs": ["original-75", "original-76"]}]}, {"id": 30, "ori_id": 5, "text": "drawer", "objs": ["original-46", "original-43", "original-42", "original-47", "original-44", "original-45", "original-48", "original-72", "original-73", "original-38", "original-26"], "name": "drawer", "children": [{"id": 31, "ori_id": 29, "text": "drawer_box", "objs": ["original-46", "original-43", "original-42", "original-47", "original-44", "original-45", "original-48"], "name": "drawer_box", "children": [{"name": "drawer_front", "id": 32, "text": "drawer_front", "ori_id": 33, "objs": ["original-46", "original-43", "original-42"]}, {"name": "drawer_side", "id": 33, "text": "drawer_side", "ori_id": 34, "objs": ["original-47"]}, {"name": "drawer_side", "id": 34, "text": "drawer_side", "ori_id": 35, "objs": ["original-44"]}, {"name": "drawer_back", "id": 35, "text": "drawer_back", "ori_id": 36, "objs": ["original-45"]}, {"name": "drawer_bottom", "id": 36, "text": "drawer_bottom", "ori_id": 37, "objs": ["original-48"]}]}, {"name": "handle", "id": 37, "text": "handle", "ori_id": 30, "objs": ["original-72", "original-73"]}]}, {"id": 38, "ori_id": 6, "text": "drawer", "objs": ["original-16", "original-12", "original-13", "original-14", "original-17", "original-15", "original-18", "original-69", "original-70", "original-39", "original-27"], "name": "drawer", "children": [{"id": 39, "ori_id": 15, "text": "drawer_box", "objs": ["original-16", "original-12", "original-13", "original-14", "original-17", "original-15", "original-18"], "name": "drawer_box", "children": [{"name": "drawer_front", "id": 40, "text": "drawer_front", "ori_id": 17, "objs": ["original-16", "original-12", "original-13"]}, {"name": "drawer_side", "id": 41, "text": "drawer_side", "ori_id": 18, "objs": ["original-14"]}, {"name": "drawer_side", "id": 42, "text": "drawer_side", "ori_id": 19, "objs": ["original-17"]}, {"name": "drawer_back", "id": 43, "text": "drawer_back", "ori_id": 20, "objs": ["original-15"]}, {"name": "drawer_bottom", "id": 44, "text": "drawer_bottom", "ori_id": 21, "objs": ["original-18"]}]}, {"name": "handle", "id": 45, "text": "handle", "ori_id": 16, "objs": ["original-69", "original-70"]}]}, {"id": 46, "ori_id": 7, "text": "drawer", "objs": ["original-5", "original-7", "original-3", "original-6", "original-8", "original-4", "original-10", "original-2", "original-66", "original-67", "original-40", "original-28", "original-9"], "name": "drawer", "children": [{"id": 47, "ori_id": 8, "text": "drawer_box", "objs": ["original-5", "original-7", "original-3", "original-6", "original-8", "original-4", "original-10", "original-2"], "name": "drawer_box", "children": [{"name": "drawer_front", "id": 48, "text": "drawer_front", "ori_id": 10, "objs": ["original-5", "original-7", "original-3"]}, {"name": "drawer_side", "id": 49, "text": "drawer_side", "ori_id": 11, "objs": ["original-6"]}, {"name": "drawer_side", "id": 50, "text": "drawer_side", "ori_id": 12, "objs": ["original-8"]}, {"name": "drawer_back", "id": 51, "text": "drawer_back", "ori_id": 13, "objs": ["original-4"]}, {"name": "drawer_bottom", "id": 52, "text": "drawer_bottom", "ori_id": 14, "objs": ["original-10", "original-2"]}]}, {"name": "handle", "id": 53, "text": "handle", "ori_id": 9, "objs": ["original-66", "original-67"]}]}]}]}]
\ No newline at end of file
diff --git a/StorageFurniture/48169/partnet_mobility/semantics_gapartnet.txt b/StorageFurniture/48169/partnet_mobility/semantics_gapartnet.txt
new file mode 100644
index 0000000000000000000000000000000000000000..096e5d669a864ea8d80fe244b49fe2c44af03bab
--- /dev/null
+++ b/StorageFurniture/48169/partnet_mobility/semantics_gapartnet.txt
@@ -0,0 +1,11 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 slider drawer
+link_3 slider drawer
+link_4 heavy furniture_body
+link_5 slider drawer
+link_6 fixed handle
+link_7 fixed handle
+link_8 fixed handle
+link_9 fixed handle
+link_10 fixed handle
diff --git a/StorageFurniture/48169/partnet_mobility/tree_hier.html b/StorageFurniture/48169/partnet_mobility/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..eae4f55e53abf4a00eb936d1340e58557de2c4be
--- /dev/null
+++ b/StorageFurniture/48169/partnet_mobility/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 storage_furniture Storage Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 cabinet Cabinet</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 cabinet_frame Cabinet frame</p><a href="parts_render/2.png"><img src="parts_render/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><p>3 drawer Drawer</p><a href="parts_render/3.png"><img src="parts_render/3.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>4 drawer Drawer</p><a href="parts_render/4.png"><img src="parts_render/4.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><p>5 drawer Drawer</p><a href="parts_render/5.png"><img src="parts_render/5.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><p>6 drawer Drawer</p><a href="parts_render/6.png"><img src="parts_render/6.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><p>7 drawer Drawer</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td></tr><tr><td><p>56 vertical_side_panel Vertical side panel</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 vertical_side_panel Vertical side panel</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 back_panel Back panel</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 top_panel Top panel</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 frame_vertical_bar Vertical support bar</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 frame_vertical_bar Vertical support bar</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td><td></td><td><p>65 frame_vertical_bar Vertical support bar</p><a href="parts_render/65.png"><img src="parts_render/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 frame_vertical_bar Vertical support bar</p><a href="parts_render/66.png"><img src="parts_render/66.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>47 drawer_box Drawer box</p><a href="parts_render/47.png"><img src="parts_render/47.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>48 handle Handle</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>38 drawer_box Drawer box</p><a href="parts_render/38.png"><img src="parts_render/38.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>39 handle Handle</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 drawer_rails Drawer rails</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 drawer_rails Drawer rails</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 drawer_box Drawer box</p><a href="parts_render/29.png"><img src="parts_render/29.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>30 handle Handle</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 drawer_rails Drawer rails</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 drawer_rails Drawer rails</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>15 drawer_box Drawer box</p><a href="parts_render/15.png"><img src="parts_render/15.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>16 handle Handle</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td><p>26 drawer_rails Drawer rails</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 drawer_rails Drawer rails</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>8 drawer_box Drawer box</p><a href="parts_render/8.png"><img src="parts_render/8.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>9 handle Handle</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>22 drawer_rails Drawer rails</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 drawer_rails Drawer rails</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 other Partition plate (other)</p><a href="parts_render/24.png"><img src="parts_render/24.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><p>51 drawer_front Drawer front</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 drawer_side Drawer side</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 drawer_side Drawer side</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 drawer_back Drawer back</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 drawer_bottom Drawer bottom</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>42 drawer_front Drawer front</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 drawer_side Drawer side</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 drawer_side Drawer side</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 drawer_back Drawer back</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 drawer_bottom Drawer bottom</p><a href="parts_render/46.png"><img src="parts_render/46.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>33 drawer_front Drawer front</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 drawer_side Drawer side</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 drawer_side Drawer side</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 drawer_back Drawer back</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 drawer_bottom Drawer bottom</p><a href="parts_render/37.png"><img src="parts_render/37.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>17 drawer_front Drawer front</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 drawer_side Drawer side</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 drawer_side Drawer side</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 drawer_back Drawer back</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 drawer_bottom Drawer bottom</p><a href="parts_render/21.png"><img src="parts_render/21.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>10 drawer_front Drawer front</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 drawer_side Drawer side</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 drawer_side Drawer side</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 drawer_back Drawer back</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 drawer_bottom Drawer bottom</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>25 other_leaf other_leaf</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/StorageFurniture/48169/partnet_mobility/tree_hier_after_merging.html b/StorageFurniture/48169/partnet_mobility/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..ce45952007339afeb5ea1539049b7c142631aad3
--- /dev/null
+++ b/StorageFurniture/48169/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><p>14 drawer drawer</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></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>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><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>46 drawer drawer</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><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 top_panel top_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_vertical_bar frame_vertical_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_vertical_bar frame_vertical_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></td><td><p>15 drawer_box drawer_box</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>21 handle handle</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><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></td><td><p>47 drawer_box drawer_box</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.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>53 handle handle</p><a href="parts_render_after_merging/53.png"><img src="parts_render_after_merging/53.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><p>16 drawer_front drawer_front</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 drawer_side drawer_side</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><p>18 drawer_side drawer_side</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 drawer_back drawer_back</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 drawer_bottom drawer_bottom</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></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><td></td><td></td><td></td><td></td><td></td><td><p>48 drawer_front drawer_front</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 drawer_side drawer_side</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 drawer_side drawer_side</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 drawer_back drawer_back</p><a href="parts_render_after_merging/51.png"><img src="parts_render_after_merging/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 drawer_bottom drawer_bottom</p><a href="parts_render_after_merging/52.png"><img src="parts_render_after_merging/52.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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