diff --git a/StorageFurniture/40147/hoi_trajectories/handle_2/trajectory.json b/StorageFurniture/40147/hoi_trajectories/handle_2/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..30cdf6237255e35119c0cd303f0f3e6bc190bbf4
--- /dev/null
+++ b/StorageFurniture/40147/hoi_trajectories/handle_2/trajectory.json
@@ -0,0 +1,21282 @@
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\ No newline at end of file
diff --git a/StorageFurniture/40147/hoi_trajectories/handle_3/trajectory.json b/StorageFurniture/40147/hoi_trajectories/handle_3/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..a951192eda364f0fbaf248fd46c5561f8cecd38d
--- /dev/null
+++ b/StorageFurniture/40147/hoi_trajectories/handle_3/trajectory.json
@@ -0,0 +1,20750 @@
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+]
\ No newline at end of file
diff --git a/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/11.txt b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6971b36080be4616782086aa2bea4413b8698efa
--- /dev/null
+++ b/StorageFurniture/40147/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/40147/partnet_mobility/parts_render_after_merging/13.txt b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..93330b7f5059a022fef27ad55d73fb6a526decd7
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/13.txt
@@ -0,0 +1 @@
+13 frame_horizontal_bar frame_horizontal_bar
\ No newline at end of file
diff --git a/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/16.txt b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/16.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a84cbc8212f184b99829b9a6b8b5fa72baed2ff3
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/16.txt
@@ -0,0 +1 @@
+16 frame_vertical_bar frame_vertical_bar
\ No newline at end of file
diff --git a/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/17.txt b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/17.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9959fdad95e0bcb43d8eaa5c094de65d67a7b955
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/17.txt
@@ -0,0 +1 @@
+17 cabinet_base cabinet_base
\ No newline at end of file
diff --git a/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/18.txt b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/18.txt
new file mode 100644
index 0000000000000000000000000000000000000000..239f49f7c901f697407a37d636235931b6785788
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/18.txt
@@ -0,0 +1 @@
+18 panel_base panel_base
\ No newline at end of file
diff --git a/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/24.txt b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/24.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a8ed83950398a10caa6ae7153c5518c6d1b2c23d
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/24.txt
@@ -0,0 +1 @@
+24 cabinet_door cabinet_door
\ No newline at end of file
diff --git a/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/25.txt b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/25.txt
new file mode 100644
index 0000000000000000000000000000000000000000..799693a187ea5cd72b915d9970a5ca7d32bfef15
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/25.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/29.txt b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/29.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e2dc86e2b288abe77d62eb120167edbfc3ebe1c6
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/29.txt
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diff --git a/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/31.txt b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/31.txt
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--- /dev/null
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diff --git a/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/32.txt b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/32.txt
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index 0000000000000000000000000000000000000000..e4ffd40f7e2e8423f40ebbec5391e4005db0707c
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diff --git a/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/4.txt b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..45d6ba309d10ce1b2da74232582efd84eaacb72d
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/4.txt
@@ -0,0 +1 @@
+4 vertical_side_panel vertical_side_panel
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diff --git a/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/9.txt b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/9.txt
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index 0000000000000000000000000000000000000000..8d3b5e0e5851a41fc88494161f3aedc0f2a4e87d
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/parts_render_after_merging/9.txt
@@ -0,0 +1 @@
+9 frame_horizontal_bar frame_horizontal_bar
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diff --git a/StorageFurniture/40147/partnet_mobility/point_sample/label-10000.txt b/StorageFurniture/40147/partnet_mobility/point_sample/label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..09d8539ecbda3001095a09e9fcb12a101ba22854
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new file mode 100644
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diff --git a/StorageFurniture/40147/partnet_mobility/point_sample/pts-10000.txt b/StorageFurniture/40147/partnet_mobility/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ef7f356ca4d6633a857872bcfcaf9b520350b62
--- /dev/null
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diff --git a/StorageFurniture/40147/partnet_mobility/point_sample/sample-points-all-label-10000.txt b/StorageFurniture/40147/partnet_mobility/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..290ec372864f4eb7316fb79c3c9f05a1c8d52b87
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/point_sample/sample-points-all-label-10000.txt
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diff --git a/StorageFurniture/40147/partnet_mobility/point_sample/sample-points-all-pts-label-10000.ply b/StorageFurniture/40147/partnet_mobility/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9b389ac0c89a630253dad6c32f71c530829139c5
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/point_sample/sample-points-all-pts-label-10000.ply
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new file mode 100644
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diff --git a/StorageFurniture/40147/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/StorageFurniture/40147/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2eb7437f7ee8a68eb13743e6dd25a49e154ae964
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-11.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-11.mtl
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-11.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..565cefcbab05dcc55418e6b48e6059cdfe139eeb
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-11.obj
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-11.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-11.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..58ceb291f3007f38c529e8bdcd0d0df02e144de1
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-11.obj.convex.stl
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-12.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-12.mtl
@@ -0,0 +1,23 @@
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+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-12.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b471be40e1a91f257263e47b174aeb145b011d0b
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-12.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o E1_1_1/E1_1/mesh8/mesh8-geometry#mesh8-geometry
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-12.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-12.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..bbc5e6baec148c2637b5fa0ccb1156088a59983c
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-12.obj.convex.stl
@@ -0,0 +1,98 @@
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-13.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-13.mtl
@@ -0,0 +1,23 @@
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-13.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efe27b52907a09073dd4736e8f584eff443df654
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-13.obj
@@ -0,0 +1,41 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-13.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-13.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..d22fefdbd62fa13936e16536455b9086e8317587
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-13.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-15.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-15.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
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+map_Kd ../images/texture_0.jpg
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+newmtl material_1_0
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+
+newmtl material_2_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-15.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..151211ce007d54529b6a2cdbb21dc6dbe0baaa5b
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-15.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
+o E2_1_2/E2_1_1_2/mesh10/mesh10-geometry#mesh10-geometry
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+f 2/9/4 5/10/4 3/11/4
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-15.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-15.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..2f453c797c7374b09c6285d3658fdbad327175f8
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-15.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
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+  outer loop
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+ facet normal 0 0 0
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+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-16.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-16.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-16.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a74b68e4941282a72776785eb2a4c8f48fb7f2a
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-16.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
+o E1_1_2/E1_1_1_2/mesh11/mesh11-geometry#mesh11-geometry
+v -0.669991 0.577395 -0.435181
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+f 6/6/2 1/5/2 7/9/2
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+usemtl material_1_0
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+usemtl material_2_0
+f 5/11/6 1/12/6 3/13/6
+f 1/12/6 5/11/6 7/14/6
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-16.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-16.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..40835358c6e02fba69316e8a10814d48c09d49fe
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-16.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 0.577395022 -0.435180992
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+
+ facet normal 0 0 0
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+
+ facet normal 0 0 0
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+  endloop
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+ facet normal 0 0 0
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+ facet normal 0 0 0
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+  endloop
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+ facet normal 0 0 0
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+  endloop
+ endfacet
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+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-17.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-17.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-17.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ea835d8d8fca6f250aa26825849f315746d6607
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-17.obj
@@ -0,0 +1,41 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
+o E3_1_2/E3_1_1_2/mesh12/mesh12-geometry#mesh12-geometry
+v -0.669991 -0.448774 -0.435181
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-17.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-17.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..3a7b334e71eb6bc431d42f69cad79d3a7c4db3c6
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-17.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.44877401 -0.435180992
+  endloop
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+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.44877401 0.278860956
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+ facet normal 0 0 0
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+  vertex -0.669991016 -0.602698982 0.278860956
+  vertex -0.652888 -0.602698982 0.278860956
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.602698982 0.278860956
+  vertex -0.652888 -0.44877401 0.278860956
+  endloop
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+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.44877401 -0.435180992
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.669991016 -0.44877401 -0.435180992
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+  vertex -0.652888 -0.602698982 -0.435180992
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.669991016 -0.44877401 -0.435180992
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-18.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a598186bc8ce8efe3d1147a85de760bf213053f
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-18.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-18.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5661d15031b8b17abcefee3d4c1fb6cbb717ff5f
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-18.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
+o FR_2_1/FR_2/mesh13/mesh13-geometry#mesh13-geometry
+v -0.114149 0.355058 0.385754
+v -0.627234 0.303750 0.385754
+v -0.114149 0.303750 0.385754
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+v -0.627234 0.303750 0.360099
+v -0.114149 0.355058 0.360099
+vt 0.5625 0.03125
+vt 0 0
+vt 0.5625 0
+vt 0 0.03125
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+vt -0.5625 0
+vt 0 0.015625
+vt 0.5625 0.015625
+vt -0.188497 -0.894464
+vt -0.219747 -0.331964
+vt -0.219747 -0.894464
+vt -0.188497 -0.331964
+vn 0 0 1
+vn 0 -1 0
+vn 0 1 0
+vn 0 0 -1
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 2/2/2 5/5/2 3/6/2
+f 1/3/3 6/7/3 4/2/3
+f 5/5/2 2/2/2 7/7/2
+f 6/7/3 1/3/3 8/8/3
+usemtl material_1_0
+f 3//4 2//4 1//4
+f 4//4 1//4 2//4
+f 3//3 5//3 2//3
+f 4//2 6//2 1//2
+f 7//3 2//3 5//3
+f 8//2 1//2 6//2
+f 7//1 5//1 6//1
+f 8//1 6//1 5//1
+usemtl material_2_0
+f 6/9/4 5/10/4 7/11/4
+f 5/10/4 6/9/4 8/12/4
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-18.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-18.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6a9e2a3ce75a46e15d68a8d5667b6c648b655d6d
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-18.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.114148997 0.303750008 0.360099018
+  vertex -0.114148997 0.303750008 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.114148997 0.303750008 0.385754019
+  vertex -0.627233982 0.303750008 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.114148997 0.303750008 0.360099018
+  vertex -0.627233982 0.303750008 0.360099018
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.627233982 0.303750008 0.360099018
+  vertex -0.627233982 0.355058014 0.360099018
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.114148997 0.303750008 0.385754019
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.114148997 0.303750008 0.360099018
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.114148997 0.355058014 0.385754019
+  vertex -0.114148997 0.355058014 0.360099018
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.627233982 0.355058014 0.360099018
+  endloop
+ endfacet
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+ facet normal 0 0 0
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+  endloop
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.627233982 0.303750008 0.385754019
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.627233982 0.303750008 0.385754019
+  vertex -0.114148997 0.303750008 0.385754019
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.114148997 0.303750008 0.385754019
+  vertex -0.114148997 0.355058014 0.385754019
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-19.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-19.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-19.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cd11f7480c194ada4db94ed9212eafffd626a36
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-19.obj
@@ -0,0 +1,30 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
+o R1_1/R1/mesh14/mesh14-geometry#mesh14-geometry
+v -0.652888 -0.401741 -0.409527
+v 0.732440 -0.401741 -0.435181
+v -0.652888 -0.401741 -0.435181
+v 0.732440 -0.401741 -0.409527
+v 0.732440 -0.602699 -0.435181
+v -0.652888 -0.602699 -0.435181
+vt -0.769226 -0.910089
+vt -0.784851 -0.316339
+vt -0.784851 -0.910089
+vt -0.769226 -0.316339
+vt -0.907247 -0.316339
+vt -0.907247 -0.910089
+vn 0 1 0
+vn 0 0 -1
+vn 0 -1 0
+vn 0 0 1
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 5/5/2 3/3/2 2/2/2
+f 3/3/2 5/5/2 6/6/2
+usemtl material_1_0
+f 3//3 2//3 1//3
+f 4//3 1//3 2//3
+f 2//4 3//4 5//4
+f 6//4 5//4 3//4
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-19.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-19.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..3c62d951065121bb82610f80e70725794360ce43
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-19.obj.convex.stl
@@ -0,0 +1,66 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732440054 -0.602698982 -0.435180962
+  vertex -0.652888 -0.602698982 -0.435180962
+  vertex -0.652888 -0.401740968 -0.435180962
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.401740968 -0.435180962
+  vertex 0.732440054 -0.401740968 -0.435180962
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.401740968 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.401740968 -0.409527004
+  vertex -0.652888 -0.602698982 -0.435180962
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732440054 -0.602698982 -0.435180962
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732440054 -0.602698982 -0.435180962
+  vertex 0.732440054 -0.401740968 -0.435180962
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732440054 -0.401740968 -0.435180962
+  vertex -0.652888 -0.401740968 -0.435180962
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.401740968 -0.435180962
+  vertex -0.652888 -0.401740968 -0.409527004
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-2.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-2.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-2.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c146329d16bdbc19f67009fd3c89bd4eb0340ab4
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-2.obj
@@ -0,0 +1,38 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o S1_1/S1/mesh1/mesh1-geometry#mesh1-geometry
+v 0.732440 -0.034031 0.360099
+v -0.652888 -0.034031 -0.396700
+v -0.652888 -0.034031 0.360099
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+vt -1.910117 -0.957049
+vt -1.910117 -0.363299
+vn 0 1 0
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+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
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+f 1/1/2 5/5/2 6/6/2
+f 5/5/3 7/7/3 6/6/3
+f 7/7/3 5/5/3 8/8/3
+usemtl material_1_0
+f 3//3 2//3 1//3
+f 4//3 1//3 2//3
+f 3//4 1//4 5//4
+f 6//4 5//4 1//4
+f 6//1 7//1 5//1
+f 8//1 5//1 7//1
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-2.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-2.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..fe54492284b0d2a198211720749d6a8c4d6e1fb5
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-2.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.034031 -0.396700025
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+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732440054 -0.034031 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732440054 -0.034031 -0.396700025
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.0596849993 0.360098988
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-20.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-20.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-20.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f4a39601d89f93922bed102d22a5991a2431063
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-20.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
+o T1/T/mesh15/mesh15-geometry#mesh15-geometry
+v 0.732440 -0.423119 0.278861
+v -0.652888 -0.602699 0.278861
+v 0.732440 -0.602699 0.278861
+v -0.652888 -0.423119 0.278861
+vt 0.59375 0.109375
+vt 0 0
+vt 0.59375 0
+vt 0 0.109375
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+usemtl material_1_0
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-20.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-20.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4fbd4352edcfa2f84c427784f055f001c14b9a06
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-20.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.65288806 -0.423119009 0.269881994
+  vertex -0.65288806 -0.602698982 0.269881994
+  vertex -0.65288806 -0.602698982 0.287839979
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.65288806 -0.423119009 0.269881994
+  vertex -0.65288806 -0.602698982 0.287839979
+  vertex -0.65288806 -0.423119009 0.287839979
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.65288806 -0.423119009 0.269881994
+  vertex -0.65288806 -0.423119009 0.287839979
+  vertex 0.732439995 -0.423119009 0.287839979
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732439995 -0.423119009 0.287839979
+  vertex 0.732439995 -0.423119009 0.269881994
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732439995 -0.423119009 0.269881994
+  vertex 0.732439995 -0.602698982 0.269881994
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732439995 -0.602698982 0.269881994
+  vertex -0.65288806 -0.602698982 0.269881994
+  endloop
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732439995 -0.423119009 0.287839979
+  vertex -0.65288806 -0.423119009 0.287839979
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.65288806 -0.423119009 0.287839979
+  vertex -0.65288806 -0.602698982 0.287839979
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.65288806 -0.602698982 0.287839979
+  vertex -0.65288806 -0.602698982 0.269881994
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732439995 -0.602698982 0.269881994
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732439995 -0.602698982 0.269881994
+  vertex 0.732439995 -0.423119009 0.269881994
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732439995 -0.423119009 0.269881994
+  vertex 0.732439995 -0.423119009 0.287839979
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-21.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-21.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-21.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..590e4782e379c8862ea3a662beb7ec49fece8f7e
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-21.obj
@@ -0,0 +1,38 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
+o B1/B/mesh16/mesh16-geometry#mesh16-geometry
+v -0.550271 0.551741 0.360099
+v -0.652888 0.551741 -0.409527
+v -0.652888 0.551741 0.360099
+v -0.550271 0.551741 -0.409527
+v -0.550271 0.534638 -0.409527
+v -0.550271 0.534638 0.360099
+v -0.652888 0.534638 -0.409527
+v -0.652888 0.534638 0.360099
+vt -1.618619 -2.644344
+vt -1.556119 -3.113094
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+vt -1.618619 -3.113094
+vt -1.629036 -3.113094
+vt -1.629036 -2.644344
+vt -1.691536 -3.113094
+vt -1.691536 -2.644344
+vn 0 1 0
+vn 1 0 0
+vn 0 -1 0
+vn -1 0 0
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 1/1/2 5/5/2 4/4/2
+f 5/5/2 1/1/2 6/6/2
+f 6/6/3 7/7/3 5/5/3
+f 7/7/3 6/6/3 8/8/3
+usemtl material_1_0
+f 3//3 2//3 1//3
+f 4//3 1//3 2//3
+f 4//4 5//4 1//4
+f 6//4 1//4 5//4
+f 5//1 7//1 6//1
+f 8//1 6//1 7//1
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-21.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-21.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..9af6b8dfbc1ecb50f5a3c992e0798aa01ef0e5e1
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-21.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.550270975 0.534637988 0.360098988
+  vertex -0.652888 0.534637988 0.360098988
+  vertex -0.652888 0.534637988 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 0.534637988 -0.409527004
+  vertex -0.550270975 0.534637988 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.550270975 0.551741004 0.360098988
+  vertex -0.550270975 0.534637988 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.550270975 0.534637988 0.360098988
+  vertex -0.550270975 0.534637988 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.550270975 0.534637988 -0.409527004
+  vertex -0.652888 0.534637988 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 0.534637988 -0.409527004
+  vertex -0.652888 0.551741004 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 0.551741004 -0.409527004
+  vertex -0.652888 0.534637988 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 0.534637988 -0.409527004
+  vertex -0.652888 0.534637988 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.550270975 0.534637988 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.550270975 0.551741004 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.550270975 0.551741004 0.360098988
+  vertex -0.550270975 0.551741004 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.652888 0.551741004 0.360098988
+  vertex -0.550270975 0.551741004 -0.409527004
+  vertex -0.652888 0.551741004 -0.409527004
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-22.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-22.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-22.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88d5de1e69db201b706f2037e4ee042393277275
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-22.obj
@@ -0,0 +1,38 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o B2/B12/mesh17/mesh17-geometry#mesh17-geometry
+v 0.732440 0.551741 0.360099
+v 0.732440 0.551741 -0.409527
+v 0.629823 0.551741 0.360099
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+v 0.629823 0.534638 0.360099
+v 0.732440 0.534638 -0.409527
+v 0.732440 0.534638 0.360099
+vt -1.556119 -2.644344
+vt -1.556119 -3.113094
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+vt -1.691536 -3.113094
+vt -1.691536 -2.644344
+vn 0 1 0
+vn -1 0 0
+vn 0 -1 0
+vn 1 0 0
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 4/4/1 3/3/1 2/2/1
+f 4/4/2 5/5/2 3/3/2
+f 6/6/2 3/3/2 5/5/2
+f 5/5/3 7/7/3 6/6/3
+f 8/8/3 6/6/3 7/7/3
+usemtl material_1_0
+f 3//3 2//3 1//3
+f 2//3 3//3 4//3
+f 3//4 5//4 4//4
+f 5//4 3//4 6//4
+f 6//1 7//1 5//1
+f 7//1 6//1 8//1
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-22.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-22.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ce0ffc98304c3384272fa251a28f9677c54ea639
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-22.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex 0.629823029 0.534637988 0.360098988
+  vertex 0.732439995 0.534637988 0.360098988
+  vertex 0.732439995 0.551741004 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732439995 0.551741004 0.360098988
+  vertex 0.629823029 0.551741004 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732439995 0.534637988 -0.409527004
+  vertex 0.732439995 0.551741004 -0.409527004
+  vertex 0.732439995 0.551741004 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732439995 0.551741004 0.360098988
+  vertex 0.732439995 0.534637988 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732439995 0.534637988 0.360098988
+  vertex 0.629823029 0.534637988 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.629823029 0.534637988 0.360098988
+  vertex 0.629823029 0.534637988 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.629823029 0.534637988 -0.409527004
+  vertex 0.629823029 0.534637988 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.629823029 0.551741004 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.629823029 0.551741004 0.360098988
+  vertex 0.732439995 0.551741004 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
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+  vertex 0.732439995 0.551741004 -0.409527004
+  endloop
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+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732439995 0.551741004 -0.409527004
+  vertex 0.732439995 0.534637988 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.629823029 0.534637988 -0.409527004
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-23.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-23.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-23.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f498f3d95020a76d5452ebdbd1c371c3ed2ae69
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-23.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
+o FILL1/FILL/mesh18/mesh18-geometry#mesh18-geometry
+v 0.159496 0.526087 0.359672
+v 0.706786 -0.397465 0.359672
+v 0.159496 -0.397465 0.359672
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+v 0.159496 0.526087 0.372499
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+vt 1.566356 0.587447
+vt 1.566356 0.024947
+vt 1.784747 0.024947
+vn 0 0 -1
+vn 0 1 0
+vn 0 0 1
+vn 0 -1 0
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 1/5/2 5/6/2 4/7/2
+f 5/6/2 1/5/2 6/8/2
+f 7/9/3 5/6/3 6/8/3
+f 5/6/3 7/9/3 8/10/3
+usemtl material_1_0
+f 3//3 2//3 1//3
+f 4//3 1//3 2//3
+f 4//4 5//4 1//4
+f 6//4 1//4 5//4
+f 6//1 5//1 7//1
+f 8//1 7//1 5//1
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-23.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-23.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..21e2c2164d15429b51bb6dc209502f34ecea79c4
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-23.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex 0.706785977 0.526086926 0.35967201
+  vertex 0.706785977 -0.397464991 0.35967201
+  vertex 0.159495994 -0.397464991 0.35967201
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+ facet normal 0 0 0
+  outer loop
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+ facet normal 0 0 0
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+  vertex 0.706785977 -0.397464991 0.35967201
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+ facet normal 0 0 0
+  outer loop
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+ facet normal 0 0 0
+  outer loop
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+  endloop
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+ facet normal 0 0 0
+  outer loop
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+ facet normal 0 0 0
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+ facet normal 0 0 0
+  outer loop
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+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.159495994 0.526086926 0.35967201
+  endloop
+ endfacet
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+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-24.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a598186bc8ce8efe3d1147a85de760bf213053f
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-24.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-24.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99359bf44ab0387c6e3bb27826500ed7e0f9a455
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-24.obj
@@ -0,0 +1,45 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
+o CVS_2_1/CVS_2/mesh19/mesh19-geometry#mesh19-geometry
+v 0.159496 0.526086 0.385754
+v -0.114149 -0.397465 0.385754
+v 0.159496 -0.397465 0.385754
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+v 0.159496 0.526086 0.360099
+v -0.114149 -0.397465 0.360099
+vt 0.0625 0.5
+vt 0 0
+vt 0.0625 0
+vt 0 0.5
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+vt 0.015625 0.5
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+vt -0.0625 0
+vt -0.0625 0.5
+vn 0 0 1
+vn 1 0 0
+vn -1 0 0
+vn 0 0 -1
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 5/5/2 1/4/2 3/2/2
+f 6/6/3 2/2/3 4/4/3
+f 1/4/2 5/5/2 7/7/2
+f 2/2/3 6/6/3 8/8/3
+usemtl material_1_0
+f 3//4 2//4 1//4
+f 4//4 1//4 2//4
+f 3//3 1//3 5//3
+f 4//2 2//2 6//2
+f 7//3 5//3 1//3
+f 8//2 6//2 2//2
+f 7//1 6//1 5//1
+f 8//1 5//1 6//1
+usemtl material_2_0
+f 5/9/4 6/4/4 7/10/4
+f 6/4/4 5/9/4 8/2/4
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-24.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-24.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..252ba9ede332f9d678c7a9f41690ce00302af145
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-24.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.114148997 0.526085913 0.385754019
+  vertex -0.114148997 -0.397464961 0.385754019
+  vertex 0.159495994 -0.397464961 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.159495994 -0.397464961 0.385754019
+  vertex 0.159495994 0.526085913 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.114148997 -0.397464961 0.360099018
+  vertex -0.114148997 -0.397464961 0.385754019
+  vertex -0.114148997 0.526085913 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.114148997 0.526085913 0.360099018
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.159495994 -0.397464961 0.385754019
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.114148997 -0.397464961 0.385754019
+  endloop
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.159495994 -0.397464961 0.360099018
+  vertex -0.114148997 -0.397464961 0.360099018
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.114148997 0.526085913 0.360099018
+  endloop
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+ facet normal 0 0 0
+  outer loop
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+  endloop
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+ facet normal 0 0 0
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+  vertex 0.159495994 0.526085913 0.385754019
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.159495994 -0.397464961 0.385754019
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.159495994 -0.397464961 0.360099018
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-27.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-27.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-27.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f298e37d08bb38fa3db004e88c1f777eb618d9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-27.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
+o DB1L1/DB1L/mesh20/mesh20-geometry#mesh20-geometry
+v -0.603717 0.498294 -0.298359
+v -0.603717 0.395678 0.385754
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+vn -1 0 0
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+usemtl material_0_0
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+f 2/2/1 1/1/1 4/4/1
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+f 5/6/3 1/1/3 3/3/3
+f 1/1/4 6/7/4 4/4/4
+f 6/8/5 2/2/5 4/4/5
+f 5/5/2 2/2/2 7/9/2
+f 1/1/3 5/6/3 8/10/3
+f 6/7/4 1/1/4 8/11/4
+f 2/2/5 6/8/5 7/12/5
+f 6/13/6 5/14/6 7/15/6
+f 5/14/6 6/13/6 8/16/6
+usemtl material_1_0
+f 3//6 2//6 1//6
+f 4//6 1//6 2//6
+f 3//4 5//4 2//4
+f 3//5 1//5 5//5
+f 4//2 6//2 1//2
+f 4//3 2//3 6//3
+f 7//4 2//4 5//4
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+f 8//2 1//2 6//2
+f 7//3 6//3 2//3
+f 7//1 5//1 6//1
+f 8//1 6//1 5//1
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-27.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-27.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..dc203db5509c9578f5f6b592eb532626bc48f01d
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-27.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.603717029 0.498293996 0.385753989
+  vertex -0.603717029 0.498293996 -0.298359036
+  vertex -0.603717029 0.395678014 -0.298359036
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.603717029 0.395678014 -0.298359036
+  vertex -0.603717029 0.395678014 0.385753989
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.603717029 0.498293996 -0.298359036
+  vertex -0.603717029 0.498293996 0.385753989
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.603717029 0.498293996 0.385753989
+  vertex -0.578063011 0.498293996 0.385753989
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.578063011 0.395678014 -0.298359036
+  vertex -0.603717029 0.395678014 -0.298359036
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.603717029 0.498293996 -0.298359036
+  endloop
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+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.578063011 0.395678014 -0.298359036
+  vertex -0.578063011 0.498293996 -0.298359036
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.578063011 0.395678014 0.385753989
+  vertex -0.578063011 0.498293996 -0.298359036
+  vertex -0.578063011 0.498293996 0.385753989
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.603717029 0.498293996 0.385753989
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.603717029 0.498293996 0.385753989
+  vertex -0.603717029 0.395678014 0.385753989
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.603717029 0.395678014 0.385753989
+  vertex -0.603717029 0.395678014 -0.298359036
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.603717029 0.395678014 -0.298359036
+  vertex -0.578063011 0.395678014 -0.298359036
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-28.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-28.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-28.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6960fab8f0c544b9c569ce0ecbceb3c58530904c
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-28.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
+o DB1F1/DB1F/mesh21/mesh21-geometry#mesh21-geometry
+v -0.163320 0.395678 0.360099
+v -0.578063 0.395678 0.385754
+v -0.578063 0.395678 0.360099
+v -0.163320 0.395678 0.385754
+v -0.578063 0.498294 0.360099
+v -0.163320 0.498294 0.385754
+v -0.163320 0.498294 0.360099
+v -0.578063 0.498294 0.385754
+vt 0.104423 -2.379895
+vt 0.088798 -2.882499
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+vt 0.166923 -2.882499
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+vt 0.104422 -5.736665
+vt 0.166923 -2.379895
+vt 0.166922 -5.234061
+vt 0.182547 -5.234061
+vt 0.182547 -5.736665
+vn 0 -1 0
+vn 0 0 -1
+vn 0 0 1
+vn 0 1 0
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 5/5/2 1/1/2 3/3/2
+f 6/6/3 2/7/3 4/8/3
+f 1/1/2 5/5/2 7/9/2
+f 2/7/3 6/6/3 8/10/3
+f 5/11/4 6/6/4 7/12/4
+f 6/6/4 5/11/4 8/10/4
+usemtl material_1_0
+f 3//4 2//4 1//4
+f 4//4 1//4 2//4
+f 3//3 1//3 5//3
+f 4//2 2//2 6//2
+f 7//3 5//3 1//3
+f 8//2 6//2 2//2
+f 7//1 6//1 5//1
+f 8//1 5//1 6//1
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-28.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-28.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c17f51fd9ae6a97787ceb92f0b166ddcd2c3c300
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-28.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.395678014 0.385754019
+  vertex -0.578062952 0.395678014 0.385754019
+  vertex -0.578062952 0.395678014 0.360099018
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.578062952 0.395678014 0.360099018
+  vertex -0.163320005 0.395678014 0.360099018
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.578062952 0.395678014 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.578062952 0.498293996 0.360099018
+  vertex -0.578062952 0.498293996 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.498293996 0.360099018
+  vertex -0.578062952 0.498293996 0.385754019
+  vertex -0.163320005 0.498293996 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.498293996 0.360099018
+  vertex -0.163320005 0.498293996 0.385754019
+  vertex -0.163320005 0.395678014 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.498293996 0.360099018
+  vertex -0.163320005 0.395678014 0.385754019
+  vertex -0.163320005 0.395678014 0.360099018
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.498293996 0.360099018
+  vertex -0.163320005 0.395678014 0.360099018
+  vertex -0.578062952 0.395678014 0.360099018
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.498293996 0.360099018
+  vertex -0.578062952 0.395678014 0.360099018
+  vertex -0.578062952 0.498293996 0.360099018
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-3.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-3.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-3.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d50713d34deca085ec390df8435003a626da137
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-3.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o BT1/BT/mesh2/mesh2-geometry#mesh2-geometry
+v 0.732440 -0.406017 0.360099
+v -0.652888 -0.406017 -0.396700
+v -0.652888 -0.406017 0.360099
+v 0.732440 -0.406017 -0.396700
+vt -1.433555 -0.957049
+vt -1.894492 -0.363299
+vt -1.433555 -0.363299
+vt -1.894492 -0.957049
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+usemtl material_1_0
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-3.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-3.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ce908950978a78c14d3e8f07ddd6425302ce54e3
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-3.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.65288806 -0.368177056 -0.396699995
+  vertex -0.65288806 -0.443856955 -0.396699995
+  vertex -0.65288806 -0.443856955 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.65288806 -0.368177056 -0.396699995
+  vertex -0.65288806 -0.443856955 0.360098988
+  vertex -0.65288806 -0.368177056 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.65288806 -0.368177056 -0.396699995
+  vertex -0.65288806 -0.368177056 0.360098988
+  vertex 0.732439995 -0.368177056 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.65288806 -0.368177056 -0.396699995
+  vertex 0.732439995 -0.368177056 0.360098988
+  vertex 0.732439995 -0.368177056 -0.396699995
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.65288806 -0.368177056 -0.396699995
+  vertex 0.732439995 -0.368177056 -0.396699995
+  vertex 0.732439995 -0.443856955 -0.396699995
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.65288806 -0.368177056 -0.396699995
+  vertex 0.732439995 -0.443856955 -0.396699995
+  vertex -0.65288806 -0.443856955 -0.396699995
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732439995 -0.443856955 0.360098988
+  vertex 0.732439995 -0.368177056 0.360098988
+  vertex -0.65288806 -0.368177056 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732439995 -0.443856955 0.360098988
+  vertex -0.65288806 -0.368177056 0.360098988
+  vertex -0.65288806 -0.443856955 0.360098988
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732439995 -0.443856955 0.360098988
+  vertex -0.65288806 -0.443856955 0.360098988
+  vertex -0.65288806 -0.443856955 -0.396699995
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732439995 -0.443856955 0.360098988
+  vertex -0.65288806 -0.443856955 -0.396699995
+  vertex 0.732439995 -0.443856955 -0.396699995
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732439995 -0.443856955 0.360098988
+  vertex 0.732439995 -0.443856955 -0.396699995
+  vertex 0.732439995 -0.368177056 -0.396699995
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732439995 -0.443856955 0.360098988
+  vertex 0.732439995 -0.368177056 -0.396699995
+  vertex 0.732439995 -0.368177056 0.360098988
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-30.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-30.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-30.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..731c4add6fb6708ac84838c39012ee02138995db
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-30.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
+o mesh22/mesh22-geometry#mesh22-geometry
+v -0.163320 0.412780 -0.272704
+v -0.578063 0.412780 0.360099
+v -0.578063 0.412780 -0.272704
+v -0.163320 0.412780 0.360099
+vt -0.602608 -2.379895
+vt -0.988025 -2.8825
+vt -0.602609 -2.8825
+vt -0.988025 -2.379896
+vn 0 -1 0
+vn 0 1 0
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+usemtl material_1_0
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-30.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-30.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..d0b210f90ea8c6d2f2817a5d94d8e0680fe4371c
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-30.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.578063011 0.433517128 0.360098958
+  vertex -0.578063011 0.433517128 -0.272704005
+  vertex -0.578063011 0.392042845 -0.272704005
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.578063011 0.433517128 0.360098958
+  vertex -0.578063011 0.392042845 -0.272704005
+  vertex -0.578063011 0.392042845 0.360098958
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.433517128 0.360098958
+  vertex -0.163320005 0.433517128 -0.272704005
+  vertex -0.578063011 0.433517128 -0.272704005
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.433517128 0.360098958
+  vertex -0.578063011 0.433517128 -0.272704005
+  vertex -0.578063011 0.433517128 0.360098958
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.392042845 -0.272704005
+  vertex -0.578063011 0.392042845 -0.272704005
+  vertex -0.578063011 0.433517128 -0.272704005
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.392042845 -0.272704005
+  vertex -0.578063011 0.433517128 -0.272704005
+  vertex -0.163320005 0.433517128 -0.272704005
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.392042845 0.360098958
+  vertex -0.578063011 0.392042845 0.360098958
+  vertex -0.578063011 0.392042845 -0.272704005
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.392042845 0.360098958
+  vertex -0.578063011 0.392042845 -0.272704005
+  vertex -0.163320005 0.392042845 -0.272704005
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.392042845 0.360098958
+  vertex -0.163320005 0.392042845 -0.272704005
+  vertex -0.163320005 0.433517128 -0.272704005
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.392042845 0.360098958
+  vertex -0.163320005 0.433517128 -0.272704005
+  vertex -0.163320005 0.433517128 0.360098958
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.392042845 0.360098958
+  vertex -0.163320005 0.433517128 0.360098958
+  vertex -0.578063011 0.433517128 0.360098958
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.392042845 0.360098958
+  vertex -0.578063011 0.433517128 0.360098958
+  vertex -0.578063011 0.392042845 0.360098958
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-31.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-31.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-31.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62bb080bb3c25dba9a86c7f6f5480995e0f2d508
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-31.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 31
+mtllib original-31.mtl
+o mesh23/mesh23-geometry#mesh23-geometry
+v -0.163320 0.419194 0.360099
+v -0.578063 0.419194 -0.272704
+v -0.578063 0.419194 0.360099
+v -0.163320 0.419194 -0.272704
+vt -0.988026 -5.736665
+vt -0.602609 -5.234061
+vt -0.988026 -5.234061
+vt -0.602609 -5.736665
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+usemtl material_1_0
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-31.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-31.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c64294742802f1622dc5ba9e7733cdd498a5136e
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-31.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.578063011 0.439931154 0.360098958
+  vertex -0.578063011 0.439931154 -0.272704005
+  vertex -0.578063011 0.398456872 -0.272704005
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.578063011 0.439931154 0.360098958
+  vertex -0.578063011 0.398456872 -0.272704005
+  vertex -0.578063011 0.398456872 0.360098958
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.439931154 0.360098958
+  vertex -0.163320005 0.439931154 -0.272704005
+  vertex -0.578063011 0.439931154 -0.272704005
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.439931154 0.360098958
+  vertex -0.578063011 0.439931154 -0.272704005
+  vertex -0.578063011 0.439931154 0.360098958
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.398456872 -0.272704005
+  vertex -0.578063011 0.398456872 -0.272704005
+  vertex -0.578063011 0.439931154 -0.272704005
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.398456872 -0.272704005
+  vertex -0.578063011 0.439931154 -0.272704005
+  vertex -0.163320005 0.439931154 -0.272704005
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.398456872 0.360098958
+  vertex -0.578063011 0.398456872 0.360098958
+  vertex -0.578063011 0.398456872 -0.272704005
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.398456872 0.360098958
+  vertex -0.578063011 0.398456872 -0.272704005
+  vertex -0.163320005 0.398456872 -0.272704005
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.398456872 0.360098958
+  vertex -0.163320005 0.398456872 -0.272704005
+  vertex -0.163320005 0.439931154 -0.272704005
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.398456872 0.360098958
+  vertex -0.163320005 0.439931154 -0.272704005
+  vertex -0.163320005 0.439931154 0.360098958
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.398456872 0.360098958
+  vertex -0.163320005 0.439931154 0.360098958
+  vertex -0.578063011 0.439931154 0.360098958
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.163320005 0.398456872 0.360098958
+  vertex -0.578063011 0.439931154 0.360098958
+  vertex -0.578063011 0.398456872 0.360098958
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-32.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-32.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-32.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6728bc6774b6f9f9f35db3fd04f53160b98190a
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-32.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 32
+mtllib original-32.mtl
+o DB1L2/DB1L/mesh20/mesh20-geometry#mesh20-geometry
+v -0.163320 0.498294 -0.298359
+v -0.163320 0.395678 0.385754
+v -0.163320 0.498294 0.385754
+v -0.163320 0.395678 -0.298359
+v -0.137666 0.498294 0.385754
+v -0.137666 0.395678 -0.298359
+v -0.137666 0.395678 0.385754
+v -0.137666 0.498294 -0.298359
+vt 0.166922 -4.141614
+vt 0.104422 -4.558281
+vt 0.166922 -4.55828
+vt 0.104422 -4.141614
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+vt 0.104422 -4.125989
+vt 0.088797 -4.141614
+vt 0.104422 -4.573906
+vt 0.182547 -4.141614
+vt 0.166922 -4.125989
+vt 0.088797 -4.55828
+vt 0.104422 -3.974947
+vt 0.166923 -3.558281
+vt 0.104423 -3.558281
+vt 0.166922 -3.974947
+vn -1 0 0
+vn 0 0 1
+vn 0 1 0
+vn 0 0 -1
+vn 0 -1 0
+vn 1 0 0
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 2/2/2 5/5/2 3/3/2
+f 5/6/3 1/1/3 3/3/3
+f 1/1/4 6/7/4 4/4/4
+f 6/8/5 2/2/5 4/4/5
+f 5/5/2 2/2/2 7/9/2
+f 1/1/3 5/6/3 8/10/3
+f 6/7/4 1/1/4 8/11/4
+f 2/2/5 6/8/5 7/12/5
+f 6/13/6 5/14/6 7/15/6
+f 5/14/6 6/13/6 8/16/6
+usemtl material_1_0
+f 3//6 2//6 1//6
+f 4//6 1//6 2//6
+f 3//4 5//4 2//4
+f 3//5 1//5 5//5
+f 4//2 6//2 1//2
+f 4//3 2//3 6//3
+f 7//4 2//4 5//4
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+f 8//2 1//2 6//2
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-32.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-32.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c952fbeb640eee215b83372c049a7b8113614e80
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-32.obj.convex.stl
@@ -0,0 +1,98 @@
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-33.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-33.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
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+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-33.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..649a5eb2bab1509d007d38ef234028be10da11a2
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-33.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 33
+mtllib original-33.mtl
+o DB1F2/DB1F/mesh21/mesh21-geometry#mesh21-geometry
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-33.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-33.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..40b30f2b022e34e3f2defdede6514278b2ec6775
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-33.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
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+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-34.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a55f67a0053b257df810abf3a2bf801ef79a8a1
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-34.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
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+map_Kd ../images/texture_2.png
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-34.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3000bdc3bbed03410627e1ba3c1f458c9830f39
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-34.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 34
+mtllib original-34.mtl
+o logo1/logo/mesh24/mesh24-geometry#mesh24-geometry
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+f 3/3/2 2/2/2 1/1/2
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-34.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-34.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..8ff1ec13c56dc08129c8b3a9f3e63998d4aa6048
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-34.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
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+  outer loop
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+ facet normal 0 0 0
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+ facet normal 0 0 0
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+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-36.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cda9ff1783aeff9434ca9c194ef2779bb2e734d
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-36.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_3.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-36.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ec3c84c5ac75de3fe2bf1e4f990666b36cd15f0
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-36.obj
@@ -0,0 +1,118 @@
+# SSTK version 0.8.0
+# 36
+mtllib original-36.mtl
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+  vertex -0.171871021 0.404228956 0.402850956
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+ facet normal 0 0 0
+  outer loop
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+ facet normal 0 0 0
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+ facet normal 0 0 0
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+  vertex -0.569512069 0.335817963 0.385753989
+  endloop
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.569512069 0.335817963 0.411407977
+  endloop
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+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-39.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-39.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-39.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..646191d507a5e5b8e7af05febd87740799a26978
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-39.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 39
+mtllib original-39.mtl
+o DF_12_L1/DF_12_L/mesh28/mesh28-geometry#mesh28-geometry
+v -0.569512 0.570981 0.411408
+v -0.672128 0.335818 0.411408
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+f 2/2/5 6/8/5 7/12/5
+f 6/13/6 5/14/6 7/15/6
+f 5/14/6 6/13/6 8/16/6
+usemtl material_1_0
+f 3//6 2//6 1//6
+f 4//6 1//6 2//6
+f 3//4 5//4 2//4
+f 3//5 1//5 5//5
+f 4//2 6//2 1//2
+f 4//3 2//3 6//3
+f 7//4 2//4 5//4
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+f 8//2 1//2 6//2
+f 7//3 6//3 2//3
+f 7//1 5//1 6//1
+f 8//1 6//1 5//1
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-39.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-39.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..45a0e4c87f1e2c06b21b10bc8330431608e223f6
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-39.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.672128022 0.570981026 0.411407977
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+  vertex -0.56951201 0.570981026 0.385753989
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.672128022 0.570981026 0.385753989
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.672128022 0.335817993 0.411407977
+  vertex -0.672128022 0.570981026 0.411407977
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.672128022 0.570981026 0.385753989
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.56951201 0.570981026 0.385753989
+  endloop
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+ facet normal 0 0 0
+  outer loop
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.56951201 0.570981026 0.385753989
+  endloop
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.56951201 0.570981026 0.411407977
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.672128022 0.570981026 0.411407977
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+ facet normal 0 0 0
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+  vertex -0.672128022 0.335817993 0.411407977
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+ facet normal 0 0 0
+  outer loop
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+  endloop
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+  vertex -0.56951201 0.335817993 0.385753989
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-4.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-4.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-4.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4209c04ee8e457eb4734797b74254081d5b64a7
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-4.obj
@@ -0,0 +1,61 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o VS1/VS/mesh3/mesh3-geometry#mesh3-geometry
+v 0.758094 -0.448774 0.360099
+v 0.706785 -0.448774 0.385754
+v 0.706785 -0.448774 0.360099
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+vt 0.015625 0.625
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+usemtl material_0_0
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+f 6/7/3 5/5/3 7/8/3
+f 5/5/3 6/7/3 8/6/3
+usemtl material_1_0
+f 3//3 2//3 1//3
+f 4//3 1//3 2//3
+f 3//4 5//4 2//4
+f 3//5 1//5 5//5
+f 4//6 6//6 1//6
+f 4//2 2//2 6//2
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+f 8//5 5//5 1//5
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+f 7//2 6//2 2//2
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+usemtl material_2_0
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-4.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-4.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..1025db343d914dbc514ab00ee88e755e477400d9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-4.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex 0.706784964 -0.44877401 0.360099018
+  vertex 0.758093953 -0.44877401 0.360099018
+  vertex 0.758093953 -0.44877401 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.706784964 -0.44877401 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.758093953 -0.44877401 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.758093953 -0.44877401 0.360099018
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  endloop
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+ facet normal 0 0 0
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+  endloop
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+  endloop
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+ facet normal 0 0 0
+  outer loop
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+  endloop
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.706784964 -0.44877401 0.360099018
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.706784964 -0.44877401 0.360099018
+  vertex 0.706784964 -0.44877401 0.385754019
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-41.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cda9ff1783aeff9434ca9c194ef2779bb2e734d
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-41.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_3.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-41.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c322b7486cfae56ac1a57d6cdbadc9e756a44eb2
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-41.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 41
+mtllib original-41.mtl
+o mesh29/mesh29-geometry#mesh29-geometry
+v -0.569512 0.502570 0.385754
+v -0.171871 0.404229 0.385754
+v -0.569512 0.404229 0.385754
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+vt 1.778322 0.474247
+vt 2.27051 0.45081
+vn 0 0 -1
+vn 0 0 1
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+usemtl material_1_0
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-41.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-41.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..34dde3a7eda0932b931285f52c8e68cc84976e74
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-41.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.56951201 0.502569973 0.380836934
+  vertex -0.56951201 0.404228985 0.380836934
+  vertex -0.56951201 0.404228985 0.390671045
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.56951201 0.502569973 0.390671045
+  endloop
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+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.171871006 0.502569973 0.390671045
+  endloop
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+
+ facet normal 0 0 0
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+  endloop
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+ facet normal 0 0 0
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+  endloop
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+ facet normal 0 0 0
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+  endloop
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+ facet normal 0 0 0
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+  endloop
+ endfacet
+
+ facet normal 0 0 0
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+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.56951201 0.404228985 0.380836934
+  endloop
+ endfacet
+
+ facet normal 0 0 0
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+  vertex -0.171871006 0.404228985 0.380836934
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.171871006 0.502569973 0.380836934
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.171871006 0.502569973 0.390671045
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-42.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cda9ff1783aeff9434ca9c194ef2779bb2e734d
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-42.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-45.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-45.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-45.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81ff28050b6daec7635a5b40cf1ce16f3ac19563
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-45.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 45
+mtllib original-45.mtl
+o RT_11_L1/RT_11_L/mesh32/mesh32-geometry#mesh32-geometry
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-45.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-45.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..f886989ed1eb3b08155dffc6e11f7355a16fa553
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-45.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
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+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-46.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-46.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-46.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61e71e9fb60d615f26982b093e528b9bed38ed45
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-46.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 46
+mtllib original-46.mtl
+o RT_11_R1/RT_11_R/mesh33/mesh33-geometry#mesh33-geometry
+v -0.069254 0.322991 0.411408
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-46.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-46.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4b527fc2e3df713398c1ed4c29eea2e08c0066ef
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-46.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-47.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cda9ff1783aeff9434ca9c194ef2779bb2e734d
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new file mode 100644
index 0000000000000000000000000000000000000000..d39b4031e8a812300b191b83109828c45d7973cc
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new file mode 100644
index 0000000000000000000000000000000000000000..092b84102ecc2d1ae19f33ae2e675fd065dd53fc
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-48.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-48.mtl
@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_3.jpg
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-48.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10659cff4e843e3bb9ed7dedc14d1246065601f5
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-48.obj
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-48.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-48.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..cc990e4e2c32a3bb1f3eaf401c15c48bf7ec134f
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-48.obj.convex.stl
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+  vertex -0.171871021 -0.369285971 0.411407977
+  vertex -0.171871021 -0.339742988 0.402830005
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.569512069 -0.339742988 0.402830005
+  vertex -0.171871021 -0.339742988 0.402830005
+  vertex -0.171871021 -0.339742988 0.385753989
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.569512069 -0.339742988 0.402830005
+  vertex -0.171871021 -0.339742988 0.385753989
+  vertex -0.569512069 -0.339742988 0.385753989
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.569512069 -0.339742988 0.402830005
+  vertex -0.569512069 -0.339742988 0.385753989
+  vertex -0.569512069 -0.442360014 0.385753989
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.569512069 -0.339742988 0.402830005
+  vertex -0.569512069 -0.442360014 0.385753989
+  vertex -0.569512069 -0.442360014 0.411407977
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.569512069 -0.339742988 0.402830005
+  vertex -0.569512069 -0.442360014 0.411407977
+  vertex -0.569512069 -0.369285971 0.411407977
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-5.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-5.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-5.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fd1436b4635ce62ab28e61d47f3ef0b93d2a11e
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-5.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o R2_1/R2/mesh4/mesh4-geometry#mesh4-geometry
+v -0.652888 0.577395 -0.435181
+v 0.732440 0.474778 -0.435181
+v -0.652888 0.474778 -0.435181
+v 0.732440 0.577395 -0.435181
+v -0.652888 0.474778 -0.409527
+v 0.732440 0.577395 -0.409527
+v 0.732440 0.474778 -0.409527
+v -0.652888 0.577395 -0.409527
+v -0.652888 0.534638 -0.409527
+v 0.732440 0.534638 -0.409527
+vt -0.188497 -0.910089
+vt -0.250997 -0.316339
+vt -0.250997 -0.910089
+vt -0.188497 -0.316339
+vt -0.266622 -0.910089
+vt -0.172872 -0.316339
+vt -0.266622 -0.316339
+vt -0.172872 -0.910089
+vt -0.214538 -3.170505
+vt -0.188497 -3.764255
+vt -0.188497 -3.170505
+vt -0.214538 -3.764255
+vn 0 0 -1
+vn 0 -1 0
+vn 0 1 0
+vn 0 0 1
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 2/2/2 5/5/2 3/3/2
+f 1/1/3 6/6/3 4/4/3
+f 5/5/2 2/2/2 7/7/2
+f 6/6/3 1/1/3 8/8/3
+f 9/9/4 6/10/4 8/11/4
+f 6/10/4 9/9/4 10/12/4
+usemtl material_1_0
+f 3//4 2//4 1//4
+f 4//4 1//4 2//4
+f 3//3 5//3 2//3
+f 4//2 6//2 1//2
+f 7//3 2//3 5//3
+f 8//2 1//2 6//2
+f 8//1 6//1 9//1
+f 10//1 9//1 6//1
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-5.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-5.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..74bd8961bd902b31ccd593e0b84f4bd1683270ab
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-5.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732440054 0.474777997 -0.409527004
+  vertex -0.652888 0.474777997 -0.409527004
+  vertex -0.652888 0.474777997 -0.435180962
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732440054 0.474777997 -0.409527004
+  vertex -0.652888 0.474777997 -0.435180962
+  vertex 0.732440054 0.474777997 -0.435180962
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.652888 0.577395022 -0.409527004
+  vertex -0.652888 0.474777997 -0.409527004
+  vertex 0.732440054 0.474777997 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.652888 0.577395022 -0.409527004
+  vertex 0.732440054 0.474777997 -0.409527004
+  vertex 0.732440054 0.577395022 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.652888 0.577395022 -0.409527004
+  vertex -0.652888 0.577395022 -0.435180962
+  vertex -0.652888 0.474777997 -0.435180962
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.652888 0.577395022 -0.409527004
+  vertex -0.652888 0.474777997 -0.435180962
+  vertex -0.652888 0.474777997 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732440054 0.577395022 -0.435180962
+  vertex -0.652888 0.577395022 -0.435180962
+  vertex -0.652888 0.577395022 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732440054 0.577395022 -0.435180962
+  vertex -0.652888 0.577395022 -0.409527004
+  vertex 0.732440054 0.577395022 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732440054 0.577395022 -0.435180962
+  vertex 0.732440054 0.577395022 -0.409527004
+  vertex 0.732440054 0.474777997 -0.409527004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732440054 0.577395022 -0.435180962
+  vertex 0.732440054 0.474777997 -0.409527004
+  vertex 0.732440054 0.474777997 -0.435180962
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732440054 0.577395022 -0.435180962
+  vertex 0.732440054 0.474777997 -0.435180962
+  vertex -0.652888 0.474777997 -0.435180962
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.732440054 0.577395022 -0.435180962
+  vertex -0.652888 0.474777997 -0.435180962
+  vertex -0.652888 0.577395022 -0.435180962
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-50.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-50.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-50.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b3e5821b2f17ba1c50a1ebd0ca8e0045d680a44
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-50.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 50
+mtllib original-50.mtl
+o mesh36/mesh36-geometry#mesh36-geometry
+v -0.171871 0.220374 0.398581
+v -0.569512 -0.339743 0.398581
+v -0.171871 -0.339743 0.398581
+v -0.569512 0.220374 0.398581
+vt -1.939068 -1.135128
+vt -1.724224 -0.778357
+vt -1.939068 -0.778357
+vt -1.724224 -1.135128
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+usemtl material_1_0
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-50.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-50.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..f2777f0b9460d053ca58facc89fb8b8629d8f5c7
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-50.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.56951201 -0.339742988 0.418463051
+  vertex -0.56951201 0.220374018 0.418463051
+  vertex -0.56951201 0.220374018 0.378698945
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.56951201 -0.339742988 0.418463051
+  vertex -0.56951201 0.220374018 0.378698945
+  vertex -0.56951201 -0.339742988 0.378698945
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 -0.339742988 0.378698945
+  vertex -0.56951201 -0.339742988 0.378698945
+  vertex -0.56951201 0.220374018 0.378698945
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 -0.339742988 0.378698945
+  vertex -0.56951201 0.220374018 0.378698945
+  vertex -0.171871006 0.220374018 0.378698945
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 -0.339742988 0.378698945
+  vertex -0.171871006 -0.339742988 0.418463051
+  vertex -0.56951201 -0.339742988 0.418463051
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 -0.339742988 0.378698945
+  vertex -0.56951201 -0.339742988 0.418463051
+  vertex -0.56951201 -0.339742988 0.378698945
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 0.220374018 0.418463051
+  vertex -0.171871006 0.220374018 0.378698945
+  vertex -0.56951201 0.220374018 0.378698945
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 0.220374018 0.418463051
+  vertex -0.56951201 0.220374018 0.378698945
+  vertex -0.56951201 0.220374018 0.418463051
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 0.220374018 0.418463051
+  vertex -0.56951201 0.220374018 0.418463051
+  vertex -0.56951201 -0.339742988 0.418463051
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 0.220374018 0.418463051
+  vertex -0.56951201 -0.339742988 0.418463051
+  vertex -0.171871006 -0.339742988 0.418463051
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 0.220374018 0.418463051
+  vertex -0.171871006 -0.339742988 0.418463051
+  vertex -0.171871006 -0.339742988 0.378698945
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 0.220374018 0.418463051
+  vertex -0.171871006 -0.339742988 0.378698945
+  vertex -0.171871006 0.220374018 0.378698945
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-51.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-51.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-51.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..075c80cbe95ef9037020b0ff817a96c4ebd91c6b
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-51.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
+o mesh37/mesh37-geometry#mesh37-geometry
+v -0.569512 0.220374 0.385754
+v -0.171871 -0.339743 0.385754
+v -0.569512 -0.339743 0.385754
+v -0.171871 0.220374 0.385754
+vt 1.367406 -1.135128
+vt 1.58225 -0.778357
+vt 1.367406 -0.778357
+vt 1.58225 -1.135128
+vn 0 0 -1
+vn 0 0 1
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+usemtl material_1_0
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-51.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-51.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..3163ff85e9923b1eb05e30ba38da2f519c3782e0
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-51.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.56951201 0.220374018 0.365871936
+  vertex -0.171871006 0.220374018 0.365871936
+  vertex -0.171871006 -0.339742988 0.365871936
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.56951201 0.220374018 0.365871936
+  vertex -0.171871006 -0.339742988 0.365871936
+  vertex -0.56951201 -0.339742988 0.365871936
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.56951201 -0.339742988 0.405636042
+  vertex -0.56951201 0.220374018 0.405636042
+  vertex -0.56951201 0.220374018 0.365871936
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.56951201 -0.339742988 0.405636042
+  vertex -0.56951201 0.220374018 0.365871936
+  vertex -0.56951201 -0.339742988 0.365871936
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.56951201 -0.339742988 0.405636042
+  vertex -0.56951201 -0.339742988 0.365871936
+  vertex -0.171871006 -0.339742988 0.365871936
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.56951201 -0.339742988 0.405636042
+  vertex -0.171871006 -0.339742988 0.365871936
+  vertex -0.171871006 -0.339742988 0.405636042
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 0.220374018 0.405636042
+  vertex -0.171871006 0.220374018 0.365871936
+  vertex -0.56951201 0.220374018 0.365871936
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 0.220374018 0.405636042
+  vertex -0.56951201 0.220374018 0.365871936
+  vertex -0.56951201 0.220374018 0.405636042
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 0.220374018 0.405636042
+  vertex -0.56951201 0.220374018 0.405636042
+  vertex -0.56951201 -0.339742988 0.405636042
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 0.220374018 0.405636042
+  vertex -0.56951201 -0.339742988 0.405636042
+  vertex -0.171871006 -0.339742988 0.405636042
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 0.220374018 0.405636042
+  vertex -0.171871006 -0.339742988 0.405636042
+  vertex -0.171871006 -0.339742988 0.365871936
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.171871006 0.220374018 0.405636042
+  vertex -0.171871006 -0.339742988 0.365871936
+  vertex -0.171871006 0.220374018 0.365871936
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-52.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a438dc3d58421e10e84f9aa61930c4c2dd0e1c7
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-52.mtl
@@ -0,0 +1,22 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_4.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.2 0.2 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-52.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..857cd66329439098162de3d24e5a1bbf2e33523f
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-52.obj
@@ -0,0 +1,2033 @@
+# SSTK version 0.8.0
+# 52
+mtllib original-52.mtl
+o _7033_TL1/_7033_TL/mesh38/mesh38-geometry#mesh38-geometry
+v -0.632581 0.128254 0.447525
+v -0.632386 0.109397 0.447525
+v -0.628543 0.109457 0.450958
+v -0.632581 0.128254 0.442288
+v -0.627505 0.093818 0.450958
+v -0.628738 0.128260 0.450958
+v -0.632386 0.109397 0.442273
+v -0.632581 0.134860 0.442294
+v -0.631077 0.093818 0.447525
+v -0.613097 0.109457 0.450958
+v -0.632581 0.141466 0.447525
+v -0.612902 0.128260 0.450958
+v -0.609254 0.109397 0.442273
+v -0.609059 0.128254 0.442288
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+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.620819926 0.220374003 0.413419992
+  endloop
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+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.613306999 0.219394997 0.415479004
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.613306999 0.219394997 0.415479004
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+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-53.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0d7a05b6bfc4d0386a209babc7c45345e9f13fdf
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-53.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_5.png
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-53.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e435b420c85825f81e8c9cbc6fa54d60852f79b
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-53.obj
@@ -0,0 +1,23 @@
+# SSTK version 0.8.0
+# 53
+mtllib original-53.mtl
+o mesh39/mesh39-geometry#mesh39-geometry
+v -0.345037 -0.401741 -0.409527
+v -0.652888 -0.401741 -0.409527
+v -0.345037 -0.307846 -0.409527
+v -0.652888 -0.307846 -0.409527
+vt 0 0
+vt 1 0
+vt 0 1
+vt 1 1
+vn 0 0 -1
+vn 0 0 1
+usemtl material_0_2
+f 1/1/1 2/2/1 3/3/1
+f 3/3/2 2/2/2 1/1/2
+f 1/1/2 3/3/2 2/2/2
+f 2/2/1 3/3/1 1/1/1
+f 4/4/1 3/3/1 2/2/1
+f 2/2/2 3/3/2 4/4/2
+f 4/4/2 2/2/2 3/3/2
+f 3/3/1 2/2/1 4/4/1
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-53.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-53.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4b31fede3ddb50f444e8b12688c6d62abbd1e1a1
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-53.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.652888 -0.30784601 -0.414221764
+  vertex -0.652888 -0.401740968 -0.414221764
+  vertex -0.652888 -0.401740968 -0.404832244
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.401740968 -0.404832244
+  vertex -0.652888 -0.30784601 -0.404832244
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.30784601 -0.404832244
+  vertex -0.345037043 -0.30784601 -0.404832244
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.345037043 -0.30784601 -0.404832244
+  vertex -0.345037043 -0.30784601 -0.414221764
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.345037043 -0.30784601 -0.414221764
+  vertex -0.345037043 -0.401740968 -0.414221764
+  endloop
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.401740968 -0.414221764
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+ facet normal 0 0 0
+  outer loop
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+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.401740968 -0.404832244
+  endloop
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+ facet normal 0 0 0
+  outer loop
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+  endloop
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.345037043 -0.401740968 -0.414221764
+  endloop
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.345037043 -0.30784601 -0.414221764
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.345037043 -0.30784601 -0.404832244
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-6.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-6.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-6.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82c8622ad049fa7254e7dce5460785123a738a18
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-6.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o BK1/BK/mesh5/mesh5-geometry#mesh5-geometry
+v -0.652888 0.534638 -0.409527
+v 0.732440 -0.423119 -0.409527
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+vt 2.149869 0.600467
+vt 1.556119 0.592655
+vt 1.556119 0.009322
+vt 2.149869 0.009322
+vn 0 0 -1
+vn 0 1 0
+vn 0 0 1
+vn 0 -1 0
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 1/5/2 5/6/2 4/7/2
+f 5/6/2 1/5/2 6/8/2
+f 7/9/3 5/6/3 6/8/3
+f 5/6/3 7/9/3 8/10/3
+usemtl material_1_0
+f 3//3 2//3 1//3
+f 4//3 1//3 2//3
+f 4//4 5//4 1//4
+f 6//4 1//4 5//4
+f 6//1 5//1 7//1
+f 8//1 7//1 5//1
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-6.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-6.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..79f69ab4900c0ede662bceec1d881da31619166a
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-6.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.652888 0.534637928 -0.396699965
+  vertex -0.652888 0.534637928 -0.409526974
+  vertex -0.652888 -0.423119009 -0.409526974
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.423119009 -0.396699965
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 0.534637928 -0.396699965
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.423119009 -0.396699965
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.423119009 -0.396699965
+  vertex -0.652888 -0.423119009 -0.409526974
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732440054 -0.423119009 -0.409526974
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732440054 0.534637928 -0.396699965
+  vertex 0.732440054 -0.423119009 -0.396699965
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.732440054 -0.423119009 -0.396699965
+  vertex 0.732440054 -0.423119009 -0.409526974
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 -0.423119009 -0.409526974
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 0.534637928 -0.409526974
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 0.534637928 -0.409526974
+  vertex -0.652888 0.534637928 -0.396699965
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.652888 0.534637928 -0.396699965
+  vertex 0.732440054 0.534637928 -0.396699965
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-7.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a598186bc8ce8efe3d1147a85de760bf213053f
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-7.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-7.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af438c7e9b93429e4a83b0b8493a76be23ba2303
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-7.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o FR1/FR/mesh6/mesh6-geometry#mesh6-geometry
+v 0.706785 0.577395 0.385754
+v -0.627234 0.526086 0.385754
+v 0.706785 0.526086 0.385754
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+vt -0.219747 -0.894464
+vt -0.188497 -0.331964
+vn 0 0 1
+vn 0 -1 0
+vn 0 1 0
+vn 0 0 -1
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 2/2/2 5/5/2 3/6/2
+f 1/3/3 6/7/3 4/2/3
+f 5/5/2 2/2/2 7/7/2
+f 6/7/3 1/3/3 8/8/3
+usemtl material_1_0
+f 3//4 2//4 1//4
+f 4//4 1//4 2//4
+f 3//3 5//3 2//3
+f 4//2 6//2 1//2
+f 7//3 2//3 5//3
+f 8//2 1//2 6//2
+f 7//1 5//1 6//1
+f 8//1 6//1 5//1
+usemtl material_2_0
+f 6/9/4 5/10/4 7/11/4
+f 5/10/4 6/9/4 8/12/4
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-7.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-7.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..98af7e67a89c6e3858809a43466254f7d34f7dfc
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-7.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.627233982 0.577395022 0.385754019
+  vertex -0.627233982 0.526085973 0.385754019
+  vertex 0.706785023 0.526085973 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.706785023 0.526085973 0.385754019
+  vertex 0.706785023 0.577395022 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.627233982 0.526085973 0.385754019
+  vertex -0.627233982 0.577395022 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.627233982 0.577395022 0.360099018
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.706785023 0.526085973 0.360099018
+  vertex 0.706785023 0.526085973 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.627233982 0.526085973 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.627233982 0.526085973 0.360099018
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.627233982 0.577395022 0.360099018
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.627233982 0.577395022 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
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+  vertex 0.706785023 0.577395022 0.385754019
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.706785023 0.526085973 0.385754019
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.706785023 0.526085973 0.385754019
+  vertex 0.706785023 0.526085973 0.360099018
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-8.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-8.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-8.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..592bbebcc6d0e2ccfec856506451c68a2006aa97
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-8.obj
@@ -0,0 +1,61 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o VS2/VS/mesh3/mesh3-geometry#mesh3-geometry
+v -0.627234 -0.448774 0.360099
+v -0.678542 -0.448774 0.385754
+v -0.678542 -0.448774 0.360099
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-8.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-8.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..8385a888d435c062fb989ad5ffc0bef67bd94543
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-8.obj.convex.stl
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-9.mtl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a598186bc8ce8efe3d1147a85de760bf213053f
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-9.mtl
@@ -0,0 +1,23 @@
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+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
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+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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+illum 3
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+map_Kd ../images/texture_0.jpg
+
diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-9.obj b/StorageFurniture/40147/partnet_mobility/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad8c87711950f99fbdbf951dfeda3317873cd100
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-9.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 9
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+o FR2/FR/mesh6/mesh6-geometry#mesh6-geometry
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diff --git a/StorageFurniture/40147/partnet_mobility/textured_objs/original-9.obj.convex.stl b/StorageFurniture/40147/partnet_mobility/textured_objs/original-9.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..aafd4891a25487ab5b3c39c0c7d84778f1f4c751
--- /dev/null
+++ b/StorageFurniture/40147/partnet_mobility/textured_objs/original-9.obj.convex.stl
@@ -0,0 +1,98 @@
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+endsolid AssimpScene
diff --git a/StorageFurniture/46230/partnet_mobility/.DS_Store b/StorageFurniture/46230/partnet_mobility/.DS_Store
new file mode 100644
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diff --git a/StorageFurniture/46230/partnet_mobility/bounding_box.json b/StorageFurniture/46230/partnet_mobility/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e954aba1cc6b37508ced842045f1020721fe7f9
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.412491, -0.791393, -0.558254], "max": [0.406602, 0.778535, 0.613869]}
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new file mode 100644
index 0000000000000000000000000000000000000000..d8344092c7257a463f7e00470831fb7972391d7c
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/link_annotation_gapartnet.json
@@ -0,0 +1 @@
+[{"link_name": "link_0", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.376705489378796, -0.3899313213652903, -0.058629625102634995], [-0.569247068029312, -0.3899312085989546, -0.058629681485809555], [-0.5692469741872899, 0.39727270460696, -0.058629681485809555], [0.37670558322081804, 0.3972725918406243, -0.058629625102634995], [0.3767055198475419, -0.3899313213652939, -0.5698102807182766], [-0.569247037560566, -0.3899312085989582, -0.5698103371014511], [-0.5692469437185439, 0.3972727046069564, -0.5698103371014511], [0.37670561368956396, 0.3972725918406207, -0.5698102807182766]]}, {"link_name": "link_1", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.3767054992094256, -0.38993048200000674, 0.44178717911342114], [-0.5692462655902223, -0.38993048199999997, 0.44178712273029386], [-0.5692462655902166, 0.3958184820000002, 0.44178712273029386], [0.3767054992094312, 0.3958184819999934, 0.44178717911342114], [0.37670552814340785, -0.38993048200000674, -0.04364441905121756], [-0.56924623665624, -0.38993048199999997, -0.043644475434344875], [-0.5692462366562343, 0.3958184820000002, -0.043644475434344875], [0.37670552814341346, 0.3958184819999934, -0.04364441905121756]]}, {"link_name": "link_2", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.3767054589721105, -0.38993121632546657, 0.7630436235823561], [-0.5691574032126927, -0.38993121632541294, 0.7630436235823026], [-0.5691574032126478, 0.39728786715154774, 0.7630436235823026], [0.3767054589721551, 0.3972878671514941, 0.7630436235823561], [0.3767054589721278, -0.38993121632546657, 0.4570021321221993], [-0.5691574032126754, -0.38993121632541294, 0.45700213212214574], [-0.5691574032126305, 0.39728786715154774, 0.45700213212214574], [0.37670545897217245, 0.3972878671514941, 0.4570021321221993]]}, {"link_name": "link_3", "is_gapart": false, "category": "", "bbox": []}, {"link_name": "link_4", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.6146149377983325, 0.11013007849999998, -0.30298446409253066], [-0.6146149377983325, -0.10424107849999997, -0.30298446409253066], [-0.6146149377983325, -0.10424107849999997, -0.32554426863363695], [-0.6146149377983325, 0.11013007849999998, -0.32554426863363695], [-0.567974703179511, 0.11013007849999998, -0.30298446409253066], [-0.567974703179511, -0.10424107849999997, -0.30298446409253066], [-0.567974703179511, -0.10424107849999997, -0.32554426863363695], [-0.567974703179511, 0.11013007849999998, -0.32554426863363695]]}, {"link_name": "link_5", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.6146066871473872, 0.11013007849999998, 0.21041080594305828], [-0.6146066871473872, -0.10424107849999997, 0.21041080594305828], [-0.6146066871473872, -0.10424107849999997, 0.18780971074165764], [-0.6146066871473872, 0.11013007849999998, 0.18780971074165764], [-0.567974707302775, 0.11013007849999998, 0.21041080594305828], [-0.567974707302775, -0.10424107849999997, 0.21041080594305828], [-0.567974707302775, -0.10424107849999997, 0.18780971074165764], [-0.567974707302775, 0.11013007849999998, 0.18780971074165764]]}, {"link_name": "link_6", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.614524612939586, 0.11013007849999998, 0.6211442814053078], [-0.614524612939586, -0.10424107849999997, 0.6211442814053078], [-0.614524612939586, -0.10424107849999997, 0.5987788284450749], [-0.614524612939586, 0.11013007849999998, 0.5987788284450749], [-0.5679747483193704, 0.11013007849999998, 0.6211442814053078], [-0.5679747483193704, -0.10424107849999997, 0.6211442814053078], [-0.5679747483193704, -0.10424107849999997, 0.5987788284450749], [-0.5679747483193704, 0.11013007849999998, 0.5987788284450749]]}]
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diff --git a/StorageFurniture/46230/partnet_mobility/meta.json b/StorageFurniture/46230/partnet_mobility/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95d35470c36c21472fd2a29f3c3612a5a3e511bd
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/meta.json
@@ -0,0 +1 @@
+{"model_id": "4fd61ff0aa949a4486d53ab0fe94e911", "anno_id": "46230", "user_id": "face++wanglu", "time_in_sec": "895", "version": "2", "model_cat": "StorageFurniture"}
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/mobility.urdf b/StorageFurniture/46230/partnet_mobility/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dd7f3e0b2db3b112212ec215fee88d08652fd879
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/mobility.urdf
@@ -0,0 +1,626 @@
+<?xml version="1.0" ?>
+<robot name="partnet_4fd61ff0aa949a4486d53ab0fe94e911">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.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-54.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-53.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-57.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-63.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.8"/>
+	</joint>
+	<link name="link_1">
+		<visual name="drawer_front-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.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-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-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.8"/>
+	</joint>
+	<link name="link_2">
+		<visual name="drawer_front-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.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-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.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-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.8"/>
+	</joint>
+	<link name="link_3">
+		<visual name="frame_vertical_bar-38">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-39">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-40">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-41">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-42">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-43">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-44">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-52">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-50">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-49">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-53">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-53">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-55">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-56">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-64">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-63">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-62">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-61">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.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-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.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-47.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-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/StorageFurniture/46230/partnet_mobility/mobility_annotation_gapartnet.urdf b/StorageFurniture/46230/partnet_mobility/mobility_annotation_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b4eb026df4f2bba6ae408c7b2ae3fe8d819bc29e
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/mobility_annotation_gapartnet.urdf
@@ -0,0 +1,647 @@
+<?xml version="1.0" ?>
+<robot name="partnet_4fd61ff0aa949a4486d53ab0fe94e911">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.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-54.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-53.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-57.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.8"/>
+	</joint>
+	<link name="link_1">
+		<visual name="drawer_front-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.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-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-44.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_3"/>
+		<limit lower="0" upper="0.8"/>
+	</joint>
+	<link name="link_2">
+		<visual name="drawer_front-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.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-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.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>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.8"/>
+	</joint>
+	<link name="link_3">
+		<visual name="frame_vertical_bar-38">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-39">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-40">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-41">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-42">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-43">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-44">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-52">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-50">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-49">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-53">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-53">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-55">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-56">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-64">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-63">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-62">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-61">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.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-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.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-47.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-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_4">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_5">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_5"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_6">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_6"/>
+		<parent link="link_2"/>
+	</joint>
+</robot>
diff --git a/StorageFurniture/46230/partnet_mobility/mobility_texture_gapartnet.urdf b/StorageFurniture/46230/partnet_mobility/mobility_texture_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dd7f3e0b2db3b112212ec215fee88d08652fd879
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/mobility_texture_gapartnet.urdf
@@ -0,0 +1,626 @@
+<?xml version="1.0" ?>
+<robot name="partnet_4fd61ff0aa949a4486d53ab0fe94e911">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.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-54.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-53.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-57.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-63.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.8"/>
+	</joint>
+	<link name="link_1">
+		<visual name="drawer_front-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.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-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-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.8"/>
+	</joint>
+	<link name="link_2">
+		<visual name="drawer_front-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.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-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.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-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.8"/>
+	</joint>
+	<link name="link_3">
+		<visual name="frame_vertical_bar-38">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-39">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-40">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-41">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-42">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-43">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-44">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-52">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-50">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-49">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-53">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-53">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-55">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-56">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-64">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-63">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-62">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-61">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.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-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.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-47.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-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/StorageFurniture/46230/partnet_mobility/mobility_v2.json b/StorageFurniture/46230/partnet_mobility/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d4a903d32b5e3d4ca166d5ca0050ee749988f7a
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":23,"name":"drawer_front","children":[]},{"id":24,"name":"drawer_side","children":[]},{"id":25,"name":"drawer_side","children":[]},{"id":26,"name":"drawer_back","children":[]},{"id":27,"name":"drawer_bottom","children":[]},{"id":22,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.8,"noLimit":false}}},{"id":1,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":16,"name":"drawer_front","children":[]},{"id":17,"name":"drawer_side","children":[]},{"id":18,"name":"drawer_side","children":[]},{"id":19,"name":"drawer_back","children":[]},{"id":20,"name":"drawer_bottom","children":[]},{"id":15,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.8,"noLimit":false}}},{"id":2,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":9,"name":"drawer_front","children":[]},{"id":10,"name":"drawer_side","children":[]},{"id":11,"name":"drawer_side","children":[]},{"id":12,"name":"drawer_back","children":[]},{"id":13,"name":"drawer_bottom","children":[]},{"id":8,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.8,"noLimit":false}}},{"id":3,"parent":-1,"joint":"heavy","name":"cabinet_frame","parts":[{"id":38,"name":"frame_vertical_bar","children":[]},{"id":39,"name":"frame_vertical_bar","children":[]},{"id":40,"name":"frame_horizontal_bar","children":[]},{"id":41,"name":"frame_horizontal_bar","children":[]},{"id":42,"name":"frame_horizontal_bar","children":[]},{"id":43,"name":"frame_horizontal_bar","children":[]},{"id":44,"name":"frame_horizontal_bar","children":[]},{"id":52,"name":"other_leaf","children":[]},{"id":51,"name":"other_leaf","children":[]},{"id":50,"name":"other_leaf","children":[]},{"id":49,"name":"other_leaf","children":[]},{"id":53,"name":"vertical_side_panel","children":[]},{"id":54,"name":"vertical_side_panel","children":[]},{"id":55,"name":"back_panel","children":[]},{"id":56,"name":"bottom_panel","children":[]},{"id":64,"name":"other_leaf","children":[]},{"id":63,"name":"other_leaf","children":[]},{"id":62,"name":"other_leaf","children":[]},{"id":61,"name":"other_leaf","children":[]},{"id":29,"name":"base_side_panel","children":[]},{"id":30,"name":"base_side_panel","children":[]},{"id":31,"name":"base_side_panel","children":[]},{"id":32,"name":"base_side_panel","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/0.txt b/StorageFurniture/46230/partnet_mobility/parts_render/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..000055119a8f586744ae4cc6685e399ee604f6b6
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/0.txt
@@ -0,0 +1 @@
+0 storage_furniture Storage Furniture
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/12.txt b/StorageFurniture/46230/partnet_mobility/parts_render/12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f23e27b5865886fd3a2c9bf520218246d674dfe
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/12.txt
@@ -0,0 +1 @@
+12 drawer_back Drawer back
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/14.txt b/StorageFurniture/46230/partnet_mobility/parts_render/14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4630d6aa3dfe82d7593698407c2fbc3d89f62a35
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/14.txt
@@ -0,0 +1 @@
+14 drawer_box Drawer box
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/23.txt b/StorageFurniture/46230/partnet_mobility/parts_render/23.txt
new file mode 100644
index 0000000000000000000000000000000000000000..57762d452d7edbc6cf549818e4c1a485d99cb2a7
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/23.txt
@@ -0,0 +1 @@
+23 drawer_front Drawer front
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/26.txt b/StorageFurniture/46230/partnet_mobility/parts_render/26.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ac789bd8ba5015e4aea630743622b643cacb8c3
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/26.txt
@@ -0,0 +1 @@
+26 drawer_back Drawer back
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/28.txt b/StorageFurniture/46230/partnet_mobility/parts_render/28.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a4eeee6dcc92ab35b4e968af707e684b79afa60d
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/28.txt
@@ -0,0 +1 @@
+28 panel_base Panel Base
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/38.txt b/StorageFurniture/46230/partnet_mobility/parts_render/38.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba6f2fa3c25e0af896e697e0284a675a3b0d53ec
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/38.txt
@@ -0,0 +1 @@
+38 frame_vertical_bar Vertical support bar
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/39.txt b/StorageFurniture/46230/partnet_mobility/parts_render/39.txt
new file mode 100644
index 0000000000000000000000000000000000000000..73640b6f19896cf0495a8013a6ed066af899a579
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/39.txt
@@ -0,0 +1 @@
+39 frame_vertical_bar Vertical support bar
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/40.txt b/StorageFurniture/46230/partnet_mobility/parts_render/40.txt
new file mode 100644
index 0000000000000000000000000000000000000000..232620800ff3f253b91dec6002f72b7db9ab0630
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/40.txt
@@ -0,0 +1 @@
+40 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/41.txt b/StorageFurniture/46230/partnet_mobility/parts_render/41.txt
new file mode 100644
index 0000000000000000000000000000000000000000..744c60b2b80ed48a766e339daaba65ab5d8aced6
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/41.txt
@@ -0,0 +1 @@
+41 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/42.txt b/StorageFurniture/46230/partnet_mobility/parts_render/42.txt
new file mode 100644
index 0000000000000000000000000000000000000000..162a4fbe8f213b3f1ade282ab994f09cafd62d95
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/42.txt
@@ -0,0 +1 @@
+42 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/43.txt b/StorageFurniture/46230/partnet_mobility/parts_render/43.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f18e6033bb1ebf0a646d84eb22fd8db2cb038df
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/43.txt
@@ -0,0 +1 @@
+43 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/47.txt b/StorageFurniture/46230/partnet_mobility/parts_render/47.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0af5eda879c13f135081b02e1daeb0c19fef3491
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/47.txt
@@ -0,0 +1 @@
+47 other triangle (other)
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/48.txt b/StorageFurniture/46230/partnet_mobility/parts_render/48.txt
new file mode 100644
index 0000000000000000000000000000000000000000..74c756de83950bd8bf57e8459a232817c555bf4c
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/48.txt
@@ -0,0 +1 @@
+48 other triangle (other)
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/49.txt b/StorageFurniture/46230/partnet_mobility/parts_render/49.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2e45e160ea6947d536d8089f4d33d41e5e28d296
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/49.txt
@@ -0,0 +1 @@
+49 other_leaf other_leaf
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/50.txt b/StorageFurniture/46230/partnet_mobility/parts_render/50.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb7f6903051ced3b96b8ac871262f1d703458dd5
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/50.txt
@@ -0,0 +1 @@
+50 other_leaf other_leaf
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/51.txt b/StorageFurniture/46230/partnet_mobility/parts_render/51.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f402ae3eee959af1b6af69390e52332a14466ebb
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/51.txt
@@ -0,0 +1 @@
+51 other_leaf other_leaf
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/53.txt b/StorageFurniture/46230/partnet_mobility/parts_render/53.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cb80121af1ac6cdd5b9f80a8a7218adf0a54a937
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/53.txt
@@ -0,0 +1 @@
+53 vertical_side_panel Vertical side panel
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/54.txt b/StorageFurniture/46230/partnet_mobility/parts_render/54.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e313c8aef401aedf173c19e23b17aa5449d785a9
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/54.txt
@@ -0,0 +1 @@
+54 vertical_side_panel Vertical side panel
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/57.txt b/StorageFurniture/46230/partnet_mobility/parts_render/57.txt
new file mode 100644
index 0000000000000000000000000000000000000000..173685d0bf49988ce699099f2e18a6a37b2b2147
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/57.txt
@@ -0,0 +1 @@
+57 other rectangle (other)
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/58.txt b/StorageFurniture/46230/partnet_mobility/parts_render/58.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2579f23a15fce40a01fbff4d0a3d91c4e74e01dc
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/58.txt
@@ -0,0 +1 @@
+58 other Small rectangle (other)
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/59.txt b/StorageFurniture/46230/partnet_mobility/parts_render/59.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5329670826105533451b6c78be596a58c523d3b2
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/59.txt
@@ -0,0 +1 @@
+59 other Small rectangle (other)
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/6.txt b/StorageFurniture/46230/partnet_mobility/parts_render/6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3104690ac0119fc813221738751239f77194afe7
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/6.txt
@@ -0,0 +1 @@
+6 drawer Drawer
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/60.txt b/StorageFurniture/46230/partnet_mobility/parts_render/60.txt
new file mode 100644
index 0000000000000000000000000000000000000000..57d2d22632c3ce103dfeb48cc272c06bf9dffe55
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/60.txt
@@ -0,0 +1 @@
+60 other Small rectangle (other)
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/61.txt b/StorageFurniture/46230/partnet_mobility/parts_render/61.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c267077a88d1fb9c2cc2ab391bee99a1100ac17f
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/61.txt
@@ -0,0 +1 @@
+61 other_leaf other_leaf
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/parts_render/7.txt b/StorageFurniture/46230/partnet_mobility/parts_render/7.txt
new file mode 100644
index 0000000000000000000000000000000000000000..67112f24b15f275451f8475bf02bda717979d27a
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/parts_render/7.txt
@@ -0,0 +1 @@
+7 drawer_box Drawer box
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/result.json b/StorageFurniture/46230/partnet_mobility/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..af518a1ee558aaafaadb3552652730d0b044bab5
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/result.json
@@ -0,0 +1 @@
+[{"text": "Storage Furniture", "children": [{"text": "Cabinet", "children": [{"text": "Cabinet frame", "children": [{"text": "Vertical support bar", "objs": ["original-3"], "id": 38, "name": "frame_vertical_bar"}, {"text": "Vertical support bar", "objs": ["original-7"], "id": 39, "name": "frame_vertical_bar"}, {"text": "Horizontal support bar", "objs": ["original-4"], "id": 40, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-8"], "id": 41, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-24"], "id": 42, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-17"], "id": 43, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-6"], "id": 44, "name": "frame_horizontal_bar"}, {"text": "triangle (other)", "children": [{"text": "other_leaf", "objs": ["original-22"], "id": 52, "name": "other_leaf"}], "id": 45, "name": "other"}, {"text": "triangle (other)", "children": [{"text": "other_leaf", "objs": ["original-21"], "id": 51, "name": "other_leaf"}], "id": 46, "name": "other"}, {"text": "triangle (other)", "children": [{"text": "other_leaf", "objs": ["original-23"], "id": 50, "name": "other_leaf"}], "id": 47, "name": "other"}, {"text": "triangle (other)", "children": [{"text": "other_leaf", "objs": ["original-20"], "id": 49, "name": "other_leaf"}], "id": 48, "name": "other"}, {"text": "Vertical side panel", "objs": ["original-15", "original-14"], "id": 53, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-10", "original-11"], "id": 54, "name": "vertical_side_panel"}, {"text": "Back panel", "objs": ["original-5"], "id": 55, "name": "back_panel"}, {"text": "Bottom panel", "objs": ["original-2"], "id": 56, "name": "bottom_panel"}, {"text": "rectangle (other)", "children": [{"text": "other_leaf", "objs": ["original-64"], "id": 64, "name": "other_leaf"}], "id": 57, "name": "other"}, {"text": "Small rectangle (other)", "children": [{"text": "other_leaf", "objs": ["original-60"], "id": 63, "name": "other_leaf"}], "id": 58, "name": "other"}, {"text": "Small rectangle (other)", "children": [{"text": "other_leaf", "objs": ["original-47"], "id": 62, "name": "other_leaf"}], "id": 59, "name": "other"}, {"text": "Small rectangle (other)", "children": [{"text": "other_leaf", "objs": ["original-34"], "id": 61, "name": "other_leaf"}], "id": 60, "name": "other"}], "id": 2, "name": "cabinet_frame"}, {"text": "Cabinet Base", "children": [{"text": "Panel Base", "children": [{"text": "Base side panel", "objs": ["original-12"], "id": 29, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-18"], "id": 30, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-16"], "id": 31, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-19"], "id": 32, "name": "base_side_panel"}], "id": 28, "name": "panel_base"}], "id": 3, "name": "cabinet_base"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-62", "original-54"], "id": 23, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-58"], "id": 24, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-53"], "id": 25, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-59"], "id": 26, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-57", "original-56"], "id": 27, "name": "drawer_bottom"}], "id": 21, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-63"], "id": 22, "name": "handle"}], "id": 4, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-49", "original-41"], "id": 16, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-45"], "id": 17, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-40"], "id": 18, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-46"], "id": 19, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-43", "original-44"], "id": 20, "name": "drawer_bottom"}], "id": 14, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-50"], "id": 15, "name": "handle"}], "id": 5, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-28", "original-36"], "id": 9, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-32"], "id": 10, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-27"], "id": 11, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-33"], "id": 12, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-31", "original-30"], "id": 13, "name": "drawer_bottom"}], "id": 7, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-37"], "id": 8, "name": "handle"}], "id": 6, "name": "drawer"}], "id": 1, "name": "cabinet"}], "id": 0, "name": "storage_furniture"}]
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/result_after_merging.json b/StorageFurniture/46230/partnet_mobility/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..2929bfc9eb33402ceaed1b9aa432b2f4a04601bf
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "storage_furniture", "ori_id": 0, "objs": ["original-3", "original-7", "original-4", "original-8", "original-24", "original-17", "original-6", "original-22", "original-21", "original-23", "original-20", "original-15", "original-14", "original-10", "original-11", "original-5", "original-2", "original-64", "original-60", "original-47", "original-34", "original-12", "original-18", "original-16", "original-19", "original-62", "original-54", "original-58", "original-53", "original-59", "original-57", "original-56", "original-63", "original-49", "original-41", "original-45", "original-40", "original-46", "original-43", "original-44", "original-50", "original-28", "original-36", "original-32", "original-27", "original-33", "original-31", "original-30", "original-37"], "children": [{"name": "cabinet", "ori_id": 1, "objs": ["original-3", "original-7", "original-4", "original-8", "original-24", "original-17", "original-6", "original-22", "original-21", "original-23", "original-20", "original-15", "original-14", "original-10", "original-11", "original-5", "original-2", "original-64", "original-60", "original-47", "original-34", "original-12", "original-18", "original-16", "original-19", "original-62", "original-54", "original-58", "original-53", "original-59", "original-57", "original-56", "original-63", "original-49", "original-41", "original-45", "original-40", "original-46", "original-43", "original-44", "original-50", "original-28", "original-36", "original-32", "original-27", "original-33", "original-31", "original-30", "original-37"], "children": [{"name": "cabinet_frame", "ori_id": 2, "objs": ["original-3", "original-7", "original-4", "original-8", "original-24", "original-17", "original-6", "original-22", "original-21", "original-23", "original-20", "original-15", "original-14", "original-10", "original-11", "original-5", "original-2", "original-64", "original-60", "original-47", "original-34"], "children": [{"name": "frame_vertical_bar", "ori_id": 38, "objs": ["original-3"], "id": 3, "text": "frame_vertical_bar"}, {"name": "frame_vertical_bar", "ori_id": 39, "objs": ["original-7"], "id": 4, "text": "frame_vertical_bar"}, {"name": "frame_horizontal_bar", "ori_id": 40, "objs": ["original-4"], "id": 5, "text": "frame_horizontal_bar"}, {"name": "frame_horizontal_bar", "ori_id": 41, "objs": ["original-8"], "id": 6, "text": "frame_horizontal_bar"}, {"name": "frame_horizontal_bar", "ori_id": 42, "objs": ["original-24"], "id": 7, "text": "frame_horizontal_bar"}, {"name": "frame_horizontal_bar", "ori_id": 43, "objs": ["original-17"], "id": 8, "text": "frame_horizontal_bar"}, {"name": "frame_horizontal_bar", "ori_id": 44, "objs": ["original-6"], "id": 9, "text": "frame_horizontal_bar"}, {"name": "vertical_side_panel", "ori_id": 53, "objs": ["original-15", "original-14"], "id": 10, "text": "vertical_side_panel"}, {"name": "vertical_side_panel", "ori_id": 54, "objs": ["original-10", "original-11"], "id": 11, "text": "vertical_side_panel"}, {"name": "back_panel", "ori_id": 55, "objs": ["original-5"], "id": 12, "text": "back_panel"}, {"name": "bottom_panel", "ori_id": 56, "objs": ["original-2"], "id": 13, "text": "bottom_panel"}], "text": "cabinet_frame", "id": 2}, {"name": "cabinet_base", "ori_id": 3, "objs": ["original-12", "original-18", "original-16", "original-19"], "children": [{"name": "panel_base", "ori_id": 28, "objs": ["original-12", "original-18", "original-16", "original-19"], "children": [{"name": "base_side_panel", "ori_id": 29, "objs": ["original-12"], "id": 16, "text": "base_side_panel"}, {"name": "base_side_panel", "ori_id": 30, "objs": ["original-18"], "id": 17, "text": "base_side_panel"}, {"name": "base_side_panel", "ori_id": 31, "objs": ["original-16"], "id": 18, "text": "base_side_panel"}, {"name": "base_side_panel", "ori_id": 32, "objs": ["original-19"], "id": 19, "text": "base_side_panel"}], "text": "panel_base", "id": 15}], "text": "cabinet_base", "id": 14}, {"name": "drawer", "ori_id": 4, "objs": ["original-62", "original-54", "original-58", "original-53", "original-59", "original-57", "original-56", "original-63"], "children": [{"name": "drawer_box", "ori_id": 21, "objs": ["original-62", "original-54", "original-58", "original-53", "original-59", "original-57", "original-56"], "children": [{"name": "drawer_front", "ori_id": 23, "objs": ["original-62", "original-54"], "id": 22, "text": "drawer_front"}, {"name": "drawer_side", "ori_id": 24, "objs": ["original-58"], "id": 23, "text": "drawer_side"}, {"name": "drawer_side", "ori_id": 25, "objs": ["original-53"], "id": 24, "text": "drawer_side"}, {"name": "drawer_back", "ori_id": 26, "objs": ["original-59"], "id": 25, "text": "drawer_back"}, {"name": "drawer_bottom", "ori_id": 27, "objs": ["original-57", "original-56"], "id": 26, "text": "drawer_bottom"}], "text": "drawer_box", "id": 21}, {"name": "handle", "ori_id": 22, "objs": ["original-63"], "id": 27, "text": "handle"}], "text": "drawer", "id": 20}, {"name": "drawer", "ori_id": 5, "objs": ["original-49", "original-41", "original-45", "original-40", "original-46", "original-43", "original-44", "original-50"], "children": [{"name": "drawer_box", "ori_id": 14, "objs": ["original-49", "original-41", "original-45", "original-40", "original-46", "original-43", "original-44"], "children": [{"name": "drawer_front", "ori_id": 16, "objs": ["original-49", "original-41"], "id": 30, "text": "drawer_front"}, {"name": "drawer_side", "ori_id": 17, "objs": ["original-45"], "id": 31, "text": "drawer_side"}, {"name": "drawer_side", "ori_id": 18, "objs": ["original-40"], "id": 32, "text": "drawer_side"}, {"name": "drawer_back", "ori_id": 19, "objs": ["original-46"], "id": 33, "text": "drawer_back"}, {"name": "drawer_bottom", "ori_id": 20, "objs": ["original-43", "original-44"], "id": 34, "text": "drawer_bottom"}], "text": "drawer_box", "id": 29}, {"name": "handle", "ori_id": 15, "objs": ["original-50"], "id": 35, "text": "handle"}], "text": "drawer", "id": 28}, {"name": "drawer", "ori_id": 6, "objs": ["original-28", "original-36", "original-32", "original-27", "original-33", "original-31", "original-30", "original-37"], "children": [{"name": "drawer_box", "ori_id": 7, "objs": ["original-28", "original-36", "original-32", "original-27", "original-33", "original-31", "original-30"], "children": [{"name": "drawer_front", "ori_id": 9, "objs": ["original-28", "original-36"], "id": 38, "text": "drawer_front"}, {"name": "drawer_side", "ori_id": 10, "objs": ["original-32"], "id": 39, "text": "drawer_side"}, {"name": "drawer_side", "ori_id": 11, "objs": ["original-27"], "id": 40, "text": "drawer_side"}, {"name": "drawer_back", "ori_id": 12, "objs": ["original-33"], "id": 41, "text": "drawer_back"}, {"name": "drawer_bottom", "ori_id": 13, "objs": ["original-31", "original-30"], "id": 42, "text": "drawer_bottom"}], "text": "drawer_box", "id": 37}, {"name": "handle", "ori_id": 8, "objs": ["original-37"], "id": 43, "text": "handle"}], "text": "drawer", "id": 36}], "text": "cabinet", "id": 1}], "text": "storage_furniture", "id": 0}]
\ No newline at end of file
diff --git a/StorageFurniture/46230/partnet_mobility/semantics.txt b/StorageFurniture/46230/partnet_mobility/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..935b1b0ee0e1adeaea0334617306dcc5ecc2f4c0
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/semantics.txt
@@ -0,0 +1,4 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 slider drawer
+link_3 heavy furniture_body
diff --git a/StorageFurniture/46230/partnet_mobility/semantics_gapartnet.txt b/StorageFurniture/46230/partnet_mobility/semantics_gapartnet.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dd2626a59c19e66eab76cd46ccda27705fecd9d5
--- /dev/null
+++ b/StorageFurniture/46230/partnet_mobility/semantics_gapartnet.txt
@@ -0,0 +1,7 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 slider drawer
+link_3 heavy furniture_body
+link_4 fixed handle
+link_5 fixed handle
+link_6 fixed handle
diff --git a/StorageFurniture/46230/partnet_mobility/tree_hier.html b/StorageFurniture/46230/partnet_mobility/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..025b68ef2353c16af7e63d41b0d820fe6c64f25b
--- /dev/null
+++ b/StorageFurniture/46230/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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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 cabinet_base Cabinet Base</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><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><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><p>6 drawer Drawer</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td><p>38 frame_vertical_bar Vertical support bar</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 frame_vertical_bar Vertical support bar</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 other triangle (other)</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>46 other triangle (other)</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>47 other triangle (other)</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>48 other triangle (other)</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>53 vertical_side_panel Vertical side panel</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 vertical_side_panel Vertical side panel</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 back_panel Back panel</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 bottom_panel Bottom 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 other rectangle (other)</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>58 other Small rectangle (other)</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>59 other Small rectangle (other)</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>60 other Small rectangle (other)</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>28 panel_base Panel Base</p><a href="parts_render/28.png"><img src="parts_render/28.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>21 drawer_box Drawer box</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></td><td><p>22 handle Handle</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>14 drawer_box Drawer box</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></td><td></td><td><p>15 handle Handle</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>7 drawer_box Drawer box</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 handle Handle</p><a href="parts_render/8.png"><img src="parts_render/8.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><p>52 other_leaf other_leaf</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>51 other_leaf other_leaf</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>50 other_leaf other_leaf</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>49 other_leaf other_leaf</p><a href="parts_render/49.png"><img src="parts_render/49.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>64 other_leaf other_leaf</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>63 other_leaf other_leaf</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>62 other_leaf other_leaf</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>61 other_leaf other_leaf</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>29 base_side_panel Base side panel</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 base_side_panel Base side panel</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 base_side_panel Base side panel</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 base_side_panel Base side panel</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>23 drawer_front Drawer front</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 drawer_side Drawer side</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 drawer_side Drawer side</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 drawer_back Drawer back</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_bottom Drawer bottom</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>16 drawer_front Drawer front</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 drawer_side Drawer side</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_back Drawer back</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_bottom Drawer bottom</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>9 drawer_front Drawer front</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 drawer_side Drawer side</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_back Drawer back</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_bottom Drawer bottom</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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diff --git a/StorageFurniture/46230/partnet_mobility/tree_hier_after_merging.html b/StorageFurniture/46230/partnet_mobility/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..d9853eab77492a847ec7316e26802d74d7e8ccff
--- /dev/null
+++ b/StorageFurniture/46230/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 cabinet_base cabinet_base</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><p>20 drawer drawer</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>28 drawer drawer</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>36 drawer drawer</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 frame_vertical_bar frame_vertical_bar</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 frame_vertical_bar frame_vertical_bar</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 frame_horizontal_bar frame_horizontal_bar</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 frame_horizontal_bar frame_horizontal_bar</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_horizontal_bar frame_horizontal_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_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 frame_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 vertical_side_panel vertical_side_panel</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 vertical_side_panel vertical_side_panel</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 back_panel back_panel</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 bottom_panel bottom_panel</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>15 panel_base panel_base</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><p>21 drawer_box drawer_box</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>27 handle handle</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></td><td><p>29 drawer_box drawer_box</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>35 handle handle</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></td><td><p>37 drawer_box drawer_box</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>43 handle handle</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.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 base_side_panel base_side_panel</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 base_side_panel base_side_panel</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 base_side_panel base_side_panel</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 base_side_panel base_side_panel</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>22 drawer_front drawer_front</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 drawer_side drawer_side</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><p>24 drawer_side drawer_side</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_back drawer_back</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_bottom drawer_bottom</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></td><td></td><td></td><td></td><td><p>30 drawer_front drawer_front</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><p>31 drawer_side drawer_side</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><p>32 drawer_side drawer_side</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_back drawer_back</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_bottom drawer_bottom</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></td><td></td><td></td><td></td><td><p>38 drawer_front drawer_front</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><p>39 drawer_side drawer_side</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><p>40 drawer_side drawer_side</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_back drawer_back</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_bottom drawer_bottom</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/.DS_Store b/StorageFurniture/47565/partnet_mobility/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..534505a4794103d38bfb4db61fca7ba15e2bfa01
Binary files /dev/null and b/StorageFurniture/47565/partnet_mobility/.DS_Store differ
diff --git a/StorageFurniture/47565/partnet_mobility/bounding_box.json b/StorageFurniture/47565/partnet_mobility/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..931eb3c136f7bfe65e8c246234acab504d533a32
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.569871, -0.696801, -0.545661], "max": [0.53049, 0.689471, 0.612011]}
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/link_annotation_gapartnet.json b/StorageFurniture/47565/partnet_mobility/link_annotation_gapartnet.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c94bc3add14f4ff5bba3016815c3a357c31fd94
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/link_annotation_gapartnet.json
@@ -0,0 +1 @@
+[{"link_name": "link_0", "is_gapart": false, "category": "", "bbox": []}, {"link_name": "link_1", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.47742263367763554, -0.5281723516917, -0.007387519762732707], [-0.5466155074977704, -0.5281724737665301, -0.00738751976274726], [-0.546615638155192, 0.5678616782942072, -0.00738751976274726], [0.47742250302021416, 0.5678618003690373, -0.007387519762732707], [0.4774226336776453, -0.5281723516917, -0.6971455344728682], [-0.5466155074977607, -0.5281724737665301, -0.6971455344728827], [-0.5466156381551822, 0.5678616782942072, -0.6971455344728827], [0.47742250302022393, 0.5678618003690373, -0.6971455344728682]]}, {"link_name": "link_2", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.4774225705888396, -0.5281723998660963, 0.685648519211394], [-0.5466155074988811, -0.5281724609035221, 0.685648519211394], [-0.5466155728263208, 0.5678401036808494, 0.685648519211394], [0.47742250526140007, 0.5678401647182753, 0.685648519211394], [0.4774225705888396, -0.5281723998660963, -0.004004482018596378], [-0.5466155074988811, -0.5281724609035221, -0.004004482018596378], [-0.5466155728263208, 0.5678401036808494, -0.004004482018596378], [0.47742250526140007, 0.5678401647182753, -0.004004482018596378]]}, {"link_name": "link_3", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.6120447075617267, 0.49952308948236923, -0.08069462257282822], [-0.6120447075617267, -0.4637751679607608, -0.08069462257282822], [-0.6120447075617267, -0.4637751679607608, -0.10407467834953882], [-0.6120447075617267, 0.49952308948236923, -0.10407467834953882], [-0.5445621689847772, 0.49952308948236923, -0.08069462257282822], [-0.5445621689847772, -0.4637751679607608, -0.08069462257282822], [-0.5445621689847772, -0.4637751679607608, -0.10407467834953882], [-0.5445621689847772, 0.49952308948236923, -0.10407467834953882]]}, {"link_name": "link_4", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.6120448626533616, 0.49950043585028614, 0.612389939061496], [-0.6120448626533616, -0.4637751566396052, 0.612389939061496], [-0.6120448626533616, -0.4637751566396052, 0.5890663498555415], [-0.6120448626533616, 0.49950043585028614, 0.5890663498555415], [-0.5442518306235479, 0.49950043585028614, 0.612389939061496], [-0.5442518306235479, -0.4637751566396052, 0.612389939061496], [-0.5442518306235479, -0.4637751566396052, 0.5890663498555415], [-0.5442518306235479, 0.49950043585028614, 0.5890663498555415]]}]
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/meta.json b/StorageFurniture/47565/partnet_mobility/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fba92166f3cd5beb525c24cffa5fe82bb0098035
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/meta.json
@@ -0,0 +1 @@
+{"model_id": "9633dbd1bb8c11134c3aee8e9d3a6ffa", "anno_id": "47565", "user_id": "face++qiaolx", "time_in_sec": "156", "version": "2", "model_cat": "StorageFurniture"}
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/mobility.urdf b/StorageFurniture/47565/partnet_mobility/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2588fee0a67e9e512b84f558ea1f1552c4ef3c93
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/mobility.urdf
@@ -0,0 +1,449 @@
+<?xml version="1.0" ?>
+<robot name="partnet_9633dbd1bb8c11134c3aee8e9d3a6ffa">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="vertical_side_panel-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.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-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.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-9.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-12.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-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="drawer_front-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.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-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.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-31.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-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.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_0"/>
+		<limit lower="0" upper="0.88"/>
+	</joint>
+	<link name="link_2">
+		<visual name="drawer_front-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
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+		</collision>
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+			<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-39.obj"/>
+			</geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-38.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-46.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-48.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-44.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_0"/>
+		<limit lower="0" upper="0.88"/>
+	</joint>
+</robot>
diff --git a/StorageFurniture/47565/partnet_mobility/mobility_annotation_gapartnet.urdf b/StorageFurniture/47565/partnet_mobility/mobility_annotation_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a2fe26c760a862c10700e0e4bdf46447a27139b
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/mobility_annotation_gapartnet.urdf
@@ -0,0 +1,463 @@
+<?xml version="1.0" ?>
+<robot name="partnet_9633dbd1bb8c11134c3aee8e9d3a6ffa">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="vertical_side_panel-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.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-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.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-9.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-12.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-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="drawer_front-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.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-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.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_0"/>
+		<limit lower="0" upper="0.88"/>
+	</joint>
+	<link name="link_2">
+		<visual name="drawer_front-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.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-40.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-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.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_0"/>
+		<limit lower="0" upper="0.88"/>
+	</joint>
+	<link name="link_3">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.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-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_4">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.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-48.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="link_2"/>
+	</joint>
+</robot>
diff --git a/StorageFurniture/47565/partnet_mobility/mobility_texture_gapartnet.urdf b/StorageFurniture/47565/partnet_mobility/mobility_texture_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2588fee0a67e9e512b84f558ea1f1552c4ef3c93
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/mobility_texture_gapartnet.urdf
@@ -0,0 +1,449 @@
+<?xml version="1.0" ?>
+<robot name="partnet_9633dbd1bb8c11134c3aee8e9d3a6ffa">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="vertical_side_panel-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.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-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.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-9.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-12.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-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="drawer_front-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.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-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.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-31.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-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.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_0"/>
+		<limit lower="0" upper="0.88"/>
+	</joint>
+	<link name="link_2">
+		<visual name="drawer_front-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.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-40.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-38.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-46.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-48.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-44.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_0"/>
+		<limit lower="0" upper="0.88"/>
+	</joint>
+</robot>
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/0.txt b/StorageFurniture/47565/partnet_mobility/parts_render/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..000055119a8f586744ae4cc6685e399ee604f6b6
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/0.txt
@@ -0,0 +1 @@
+0 storage_furniture Storage Furniture
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/1.txt b/StorageFurniture/47565/partnet_mobility/parts_render/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2758ee5746b968caf0112b343185aee363f0d38e
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/1.txt
@@ -0,0 +1 @@
+1 cabinet Cabinet
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/10.txt b/StorageFurniture/47565/partnet_mobility/parts_render/10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..863c2c1abdeaf4d14212ade027ca0b857aead95a
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/10.txt
@@ -0,0 +1 @@
+10 drawer_back Drawer back
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/11.txt b/StorageFurniture/47565/partnet_mobility/parts_render/11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2badc6949dd55c1a304704b7a98140216038e921
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/11.txt
@@ -0,0 +1 @@
+11 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/12.txt b/StorageFurniture/47565/partnet_mobility/parts_render/12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ab9847adafdac488071fdb626d109347c320092
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/12.txt
@@ -0,0 +1 @@
+12 drawer_box Drawer box
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/13.txt b/StorageFurniture/47565/partnet_mobility/parts_render/13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5a060f292dc9c05b5bfcdff30e1b301d684e1537
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/13.txt
@@ -0,0 +1 @@
+13 handle Handle
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/14.txt b/StorageFurniture/47565/partnet_mobility/parts_render/14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..050adaf8332b1ed0328b9192100c5d0f71955ac6
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/14.txt
@@ -0,0 +1 @@
+14 drawer_front Drawer front
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/15.txt b/StorageFurniture/47565/partnet_mobility/parts_render/15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e77e2d612d7950af08eafffb2a8d2020b87caa0c
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/15.txt
@@ -0,0 +1 @@
+15 drawer_side Drawer side
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/16.txt b/StorageFurniture/47565/partnet_mobility/parts_render/16.txt
new file mode 100644
index 0000000000000000000000000000000000000000..880b9c12be24d9cbb5a51b400f36d118e9100027
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/16.txt
@@ -0,0 +1 @@
+16 drawer_side Drawer side
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/17.txt b/StorageFurniture/47565/partnet_mobility/parts_render/17.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0a3e2f690f611d63a9cdda451388154f59ba6e10
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/17.txt
@@ -0,0 +1 @@
+17 drawer_back Drawer back
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/18.txt b/StorageFurniture/47565/partnet_mobility/parts_render/18.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c8dbed5c8e361e2881e0fb8c6974aba06395e576
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/18.txt
@@ -0,0 +1 @@
+18 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/19.txt b/StorageFurniture/47565/partnet_mobility/parts_render/19.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43ce2aafdb5c27f3240746c33d5cd447a78e6c5c
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/19.txt
@@ -0,0 +1 @@
+19 drawer_rails Drawer rails
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/2.txt b/StorageFurniture/47565/partnet_mobility/parts_render/2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..36d4acf4574adb3e41641dc80a870c7d4176e32d
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/2.txt
@@ -0,0 +1 @@
+2 cabinet_frame Cabinet frame
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/20.txt b/StorageFurniture/47565/partnet_mobility/parts_render/20.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ba787cf28f7a49c543d44d122e5d22039eb8461
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/20.txt
@@ -0,0 +1 @@
+20 drawer_rails Drawer rails
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/21.txt b/StorageFurniture/47565/partnet_mobility/parts_render/21.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ffd14974bb86b69cf6a59bf625ec1d7e965b206b
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/21.txt
@@ -0,0 +1 @@
+21 drawer_rails Drawer rails
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/22.txt b/StorageFurniture/47565/partnet_mobility/parts_render/22.txt
new file mode 100644
index 0000000000000000000000000000000000000000..06b9753b1f641feefcac4b62e0dd3ecda2122444
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/22.txt
@@ -0,0 +1 @@
+22 drawer_rails Drawer rails
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/23.txt b/StorageFurniture/47565/partnet_mobility/parts_render/23.txt
new file mode 100644
index 0000000000000000000000000000000000000000..092f8ccccd8e7cfb82ca786681f78d4a66ed8b69
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/23.txt
@@ -0,0 +1 @@
+23 vertical_side_panel Vertical side panel
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/24.txt b/StorageFurniture/47565/partnet_mobility/parts_render/24.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4d339eaa4ce2791a95023725c52a1db10448423c
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/24.txt
@@ -0,0 +1 @@
+24 vertical_side_panel Vertical side panel
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/25.txt b/StorageFurniture/47565/partnet_mobility/parts_render/25.txt
new file mode 100644
index 0000000000000000000000000000000000000000..092417bbfe54f497b2124173a52c390b36b96b0a
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/25.txt
@@ -0,0 +1 @@
+25 back_panel Back panel
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/26.txt b/StorageFurniture/47565/partnet_mobility/parts_render/26.txt
new file mode 100644
index 0000000000000000000000000000000000000000..302e0e924c28dad26b69a16b0a1b56e87288504b
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/26.txt
@@ -0,0 +1 @@
+26 bottom_panel Bottom panel
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/27.txt b/StorageFurniture/47565/partnet_mobility/parts_render/27.txt
new file mode 100644
index 0000000000000000000000000000000000000000..186479bde2a513c7557a9022aa0461f751a749e8
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/27.txt
@@ -0,0 +1 @@
+27 top_panel Top panel
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/28.txt b/StorageFurniture/47565/partnet_mobility/parts_render/28.txt
new file mode 100644
index 0000000000000000000000000000000000000000..22d901a90748c6aca8ab49831ef197d66db51767
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/28.txt
@@ -0,0 +1 @@
+28 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/29.txt b/StorageFurniture/47565/partnet_mobility/parts_render/29.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5188cf5924b438579ccfd15c3b12b21037122118
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/29.txt
@@ -0,0 +1 @@
+29 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/3.txt b/StorageFurniture/47565/partnet_mobility/parts_render/3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..00a85f345071bf59369bd756a90ca73294f63c80
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/3.txt
@@ -0,0 +1 @@
+3 drawer Drawer
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/4.txt b/StorageFurniture/47565/partnet_mobility/parts_render/4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..925a0b1d7affdda6d15deaf1b069077e26dd1339
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/4.txt
@@ -0,0 +1 @@
+4 drawer Drawer
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/5.txt b/StorageFurniture/47565/partnet_mobility/parts_render/5.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c1b4dad839f1a3451d33059e65b9130d8f7ea952
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/5.txt
@@ -0,0 +1 @@
+5 drawer_box Drawer box
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/6.txt b/StorageFurniture/47565/partnet_mobility/parts_render/6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1600bd40791b4ab866ba3c95202c34064407a642
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/6.txt
@@ -0,0 +1 @@
+6 handle Handle
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/7.txt b/StorageFurniture/47565/partnet_mobility/parts_render/7.txt
new file mode 100644
index 0000000000000000000000000000000000000000..121d1c14f66a4b949865a0d08e2053232f079d98
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/7.txt
@@ -0,0 +1 @@
+7 drawer_front Drawer front
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/8.txt b/StorageFurniture/47565/partnet_mobility/parts_render/8.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4bd06fcc9bf8befc91c47d9581ba26e4ec4cbda9
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/8.txt
@@ -0,0 +1 @@
+8 drawer_side Drawer side
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render/9.txt b/StorageFurniture/47565/partnet_mobility/parts_render/9.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1046d63be7ae9249399f28b3e70ddbea0c61791e
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render/9.txt
@@ -0,0 +1 @@
+9 drawer_side Drawer side
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/0.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dedfd2e8af99066d66a3ab6aea175d037cdd934a
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/0.txt
@@ -0,0 +1 @@
+0 storage_furniture storage_furniture
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/1.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f23e159a2c882657d45cb8353e306417be5722e
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/1.txt
@@ -0,0 +1 @@
+1 cabinet cabinet
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/10.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5da90f8f2c64184540e09d23a7d5cc49791bdc7a
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/10.txt
@@ -0,0 +1 @@
+10 drawer drawer
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/12.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e7eb466db74cc4da878b22ea704260f9b2b755e6
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/12.txt
@@ -0,0 +1 @@
+12 drawer_front drawer_front
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/14.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..44584291b4b24e99732c43e450bb032aee57ec43
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/14.txt
@@ -0,0 +1 @@
+14 drawer_side drawer_side
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/15.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..95bc7b92de0dc249dba6f5c233674878e9455e8a
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/15.txt
@@ -0,0 +1 @@
+15 drawer_back drawer_back
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/19.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/19.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1a7724ce60e6eb42ef2b989b1958463427b7f490
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/19.txt
@@ -0,0 +1 @@
+19 drawer_box drawer_box
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/2.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..59bb7064a8f22a706e76dff290bbd9555b423931
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/2.txt
@@ -0,0 +1 @@
+2 cabinet_frame cabinet_frame
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/20.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/20.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d444c8b457af4323081370075e7a7189a963e3dd
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/20.txt
@@ -0,0 +1 @@
+20 drawer_front drawer_front
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/21.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/21.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f28365f9ce6c3c569eaf2203206a341be441423
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/21.txt
@@ -0,0 +1 @@
+21 drawer_side drawer_side
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/22.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/22.txt
new file mode 100644
index 0000000000000000000000000000000000000000..91dab8e130f99d4907b9528fd3ccefc48e29779d
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/22.txt
@@ -0,0 +1 @@
+22 drawer_side drawer_side
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/23.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/23.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e89bbc75f73af8490d73163147ad7a182d53f9c2
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/23.txt
@@ -0,0 +1 @@
+23 drawer_back drawer_back
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/3.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba51b73c1a6acf97681f8dec0931e6c607a8aace
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/3.txt
@@ -0,0 +1 @@
+3 vertical_side_panel vertical_side_panel
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/5.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/5.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9e968bfde9441f230253b5dabfedea9ce0595c51
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/5.txt
@@ -0,0 +1 @@
+5 back_panel back_panel
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/6.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fa9cab535316349b5b28c7d43458e28d249b24ee
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/6.txt
@@ -0,0 +1 @@
+6 bottom_panel bottom_panel
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/7.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/7.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e7a7aa67400c90f38ab4bfff601d2d70ed4f9dfc
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/7.txt
@@ -0,0 +1 @@
+7 top_panel top_panel
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/8.txt b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/8.txt
new file mode 100644
index 0000000000000000000000000000000000000000..61253cc4a6cb2b5b970e9e3470d2a05c7efd3d25
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/parts_render_after_merging/8.txt
@@ -0,0 +1 @@
+8 frame_horizontal_bar frame_horizontal_bar
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/result.json b/StorageFurniture/47565/partnet_mobility/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1be1c45c96b542956a89f765d74a2bf79d61ab42
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/result.json
@@ -0,0 +1 @@
+[{"text": "Storage Furniture", "children": [{"text": "Cabinet", "children": [{"text": "Cabinet frame", "children": [{"text": "Vertical side panel", "objs": ["original-7", "original-6"], "id": 23, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-4", "original-3"], "id": 24, "name": "vertical_side_panel"}, {"text": "Back panel", "objs": ["original-15"], "id": 25, "name": "back_panel"}, {"text": "Bottom panel", "objs": ["original-10", "original-9"], "id": 26, "name": "bottom_panel"}, {"text": "Top panel", "objs": ["original-13", "original-12"], "id": 27, "name": "top_panel"}, {"text": "Horizontal support bar", "objs": ["original-16"], "id": 28, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-14"], "id": 29, "name": "frame_horizontal_bar"}], "id": 2, "name": "cabinet_frame"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-18", "original-25"], "id": 14, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-23"], "id": 15, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-24"], "id": 16, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-26"], "id": 17, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-21", "original-22"], "id": 18, "name": "drawer_bottom"}], "id": 12, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-30", "original-31", "original-32"], "id": 13, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-27"], "id": 19, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-28"], "id": 20, "name": "drawer_rails"}], "id": 3, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-41", "original-34"], "id": 7, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-39"], "id": 8, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-40"], "id": 9, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-42"], "id": 10, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-38", "original-37"], "id": 11, "name": "drawer_bottom"}], "id": 5, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-46", "original-47", "original-48"], "id": 6, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-43"], "id": 21, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-44"], "id": 22, "name": "drawer_rails"}], "id": 4, "name": "drawer"}], "id": 1, "name": "cabinet"}], "id": 0, "name": "storage_furniture"}]
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/result_after_merging.json b/StorageFurniture/47565/partnet_mobility/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..c21cae91a64076ffcb5330622e31faafbdbbee6e
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "storage_furniture", "name": "storage_furniture", "ori_id": 0, "objs": ["original-7", "original-6", "original-4", "original-3", "original-15", "original-10", "original-9", "original-13", "original-12", "original-16", "original-14", "original-18", "original-25", "original-23", "original-24", "original-26", "original-21", "original-22", "original-30", "original-31", "original-32", "original-27", "original-28", "original-41", "original-34", "original-39", "original-40", "original-42", "original-38", "original-37", "original-46", "original-47", "original-48", "original-43", "original-44"], "id": 0, "children": [{"text": "cabinet", "name": "cabinet", "ori_id": 1, "objs": ["original-7", "original-6", "original-4", "original-3", "original-15", "original-10", "original-9", "original-13", "original-12", "original-16", "original-14", "original-18", "original-25", "original-23", "original-24", "original-26", "original-21", "original-22", "original-30", "original-31", "original-32", "original-27", "original-28", "original-41", "original-34", "original-39", "original-40", "original-42", "original-38", "original-37", "original-46", "original-47", "original-48", "original-43", "original-44"], "id": 1, "children": [{"text": "cabinet_frame", "name": "cabinet_frame", "ori_id": 2, "objs": ["original-7", "original-6", "original-4", "original-3", "original-15", "original-10", "original-9", "original-13", "original-12", "original-16", "original-14"], "id": 2, "children": [{"text": "vertical_side_panel", "name": "vertical_side_panel", "ori_id": 23, "id": 3, "objs": ["original-7", "original-6"]}, {"text": "vertical_side_panel", "name": "vertical_side_panel", "ori_id": 24, "id": 4, "objs": ["original-4", "original-3"]}, {"text": "back_panel", "name": "back_panel", "ori_id": 25, "id": 5, "objs": ["original-15"]}, {"text": "bottom_panel", "name": "bottom_panel", "ori_id": 26, "id": 6, "objs": ["original-10", "original-9"]}, {"text": "top_panel", "name": "top_panel", "ori_id": 27, "id": 7, "objs": ["original-13", "original-12"]}, {"text": "frame_horizontal_bar", "name": "frame_horizontal_bar", "ori_id": 28, "id": 8, "objs": ["original-16"]}, {"text": "frame_horizontal_bar", "name": "frame_horizontal_bar", "ori_id": 29, "id": 9, "objs": ["original-14"]}]}, {"text": "drawer", "name": "drawer", "ori_id": 3, "objs": ["original-18", "original-25", "original-23", "original-24", "original-26", "original-21", "original-22", "original-30", "original-31", "original-32", "original-27", "original-28"], "id": 10, "children": [{"text": "drawer_box", "name": "drawer_box", "ori_id": 12, "objs": ["original-18", "original-25", "original-23", "original-24", "original-26", "original-21", "original-22"], "id": 11, "children": [{"text": "drawer_front", "name": "drawer_front", "ori_id": 14, "id": 12, "objs": ["original-18", "original-25"]}, {"text": "drawer_side", "name": "drawer_side", "ori_id": 15, "id": 13, "objs": ["original-23"]}, {"text": "drawer_side", "name": "drawer_side", "ori_id": 16, "id": 14, "objs": ["original-24"]}, {"text": "drawer_back", "name": "drawer_back", "ori_id": 17, "id": 15, "objs": ["original-26"]}, {"text": "drawer_bottom", "name": "drawer_bottom", "ori_id": 18, "id": 16, "objs": ["original-21", "original-22"]}]}, {"text": "handle", "name": "handle", "ori_id": 13, "id": 17, "objs": ["original-30", "original-31", "original-32"]}]}, {"text": "drawer", "name": "drawer", "ori_id": 4, "objs": ["original-41", "original-34", "original-39", "original-40", "original-42", "original-38", "original-37", "original-46", "original-47", "original-48", "original-43", "original-44"], "id": 18, "children": [{"text": "drawer_box", "name": "drawer_box", "ori_id": 5, "objs": ["original-41", "original-34", "original-39", "original-40", "original-42", "original-38", "original-37"], "id": 19, "children": [{"text": "drawer_front", "name": "drawer_front", "ori_id": 7, "id": 20, "objs": ["original-41", "original-34"]}, {"text": "drawer_side", "name": "drawer_side", "ori_id": 8, "id": 21, "objs": ["original-39"]}, {"text": "drawer_side", "name": "drawer_side", "ori_id": 9, "id": 22, "objs": ["original-40"]}, {"text": "drawer_back", "name": "drawer_back", "ori_id": 10, "id": 23, "objs": ["original-42"]}, {"text": "drawer_bottom", "name": "drawer_bottom", "ori_id": 11, "id": 24, "objs": ["original-38", "original-37"]}]}, {"text": "handle", "name": "handle", "ori_id": 6, "id": 25, "objs": ["original-46", "original-47", "original-48"]}]}]}]}]
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/semantics.txt b/StorageFurniture/47565/partnet_mobility/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8c8898e498cb546c3b7fa8612742977c6bc4a15f
--- /dev/null
+++ b/StorageFurniture/47565/partnet_mobility/semantics.txt
@@ -0,0 +1,3 @@
+link_0 heavy furniture_body
+link_1 slider drawer
+link_2 slider drawer
diff --git a/StorageFurniture/47565/partnet_mobility/tree_hier.html b/StorageFurniture/47565/partnet_mobility/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..40506286b2e89127e99644c29fbb250bc3baea87
--- /dev/null
+++ b/StorageFurniture/47565/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><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></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></tr><tr><td><p>23 vertical_side_panel Vertical side panel</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 vertical_side_panel Vertical side panel</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 back_panel Back panel</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 bottom_panel Bottom panel</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 top_panel Top panel</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>12 drawer_box Drawer box</p><a href="parts_render/12.png"><img src="parts_render/12.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>13 handle Handle</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>19 drawer_rails Drawer rails</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_rails Drawer rails</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 drawer_box Drawer box</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><p>6 handle Handle</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>21 drawer_rails Drawer rails</p><a href="parts_render/21.png"><img src="parts_render/21.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></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><p>14 drawer_front Drawer front</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 drawer_side Drawer side</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 drawer_side Drawer side</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 drawer_back Drawer back</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_bottom Drawer bottom</p><a href="parts_render/18.png"><img src="parts_render/18.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>7 drawer_front Drawer front</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 drawer_side Drawer side</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 drawer_side Drawer side</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 drawer_back Drawer back</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_bottom Drawer bottom</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/StorageFurniture/47565/partnet_mobility/tree_hier_after_merging.html b/StorageFurniture/47565/partnet_mobility/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..289194c2d308a2d557d6fcdc7d0c5182e19e80f8
--- /dev/null
+++ b/StorageFurniture/47565/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><p>10 drawer drawer</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 drawer drawer</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 vertical_side_panel vertical_side_panel</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 vertical_side_panel vertical_side_panel</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 back_panel back_panel</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 bottom_panel bottom_panel</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 top_panel top_panel</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_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 frame_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 drawer_box drawer_box</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 handle handle</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>19 drawer_box drawer_box</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>25 handle handle</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.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><p>12 drawer_front drawer_front</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 drawer_side drawer_side</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 drawer_side drawer_side</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 drawer_back drawer_back</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 drawer_bottom drawer_bottom</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>20 drawer_front drawer_front</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 drawer_side drawer_side</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 drawer_side drawer_side</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 drawer_back drawer_back</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><p>24 drawer_bottom drawer_bottom</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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