Add files using upload-large-folder tool

Microwave/7310/partnet_mobility/textured_objs/original-14.obj

@@ -0,0 +1,67 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
+o mesh21/mesh21-geometry#mesh21-geometry
+v -0.388114 -0.302198 0.575379
+v -0.392044 -0.274786 0.575377
+v -0.392035 -0.302200 0.575377
+v -0.388123 -0.274785 0.575379
+v -0.392034 -0.302200 0.574436
+v -0.388123 -0.274785 0.574437
+v -0.392044 -0.274786 0.574436
+v -0.388114 -0.302198 0.574437
+vt 0.090239 0.003777
+vt 0.087824 0.020661
+vt 0.087824 0.003777
+vt 0.090239 0.020661
+vt -0.020661 0.00058
+vt -0.003777 0
+vt -0.003777 0.00058
+vt 0.087824 0
+vt 0.090239 0.00058
+vt 0.087824 0.00058
+vt 0.003777 0.00058
+vt 0.020661 0
+vt 0.020661 0.00058
+vt -0.090239 0.00058
+vt -0.087824 0
+vt -0.087824 0.00058
+vt -0.020661 0
+vt 0.090239 0
+vt 0.003777 0
+vt -0.090239 0
+vt -0.090239 0.020661
+vt -0.087824 0.003777
+vt -0.087824 0.020661
+vt -0.090239 0.003777
+vn -0.0003311687948486259 -5.483638561980121e-8 0.9999999451636117
+vn 0.0003311687948486259 5.483638561980121e-8 -0.9999999451636117
+vn -0.9999998903272174 -0.00033116881300872757 -0.000331168794848624
+vn 0.9999998903272174 0.00033116881300872757 0.000331168794848624
+vn 0.0003311688130087257 -0.9999999451636057 5.483639705509839e-8
+vn -0.0003311688130087257 0.9999999451636057 -5.483639705509839e-8
+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 3/3/2 2/2/2 1/1/2
+f 4/4/2 1/1/2 2/2/2
+f 2/5/3 5/6/3 3/7/3
+f 3/7/4 5/6/4 2/5/4
+f 5/8/5 1/9/5 3/10/5
+f 3/10/6 1/9/6 5/8/6
+f 1/11/4 6/12/4 4/13/4
+f 4/13/3 6/12/3 1/11/3
+f 4/14/6 7/15/6 2/16/6
+f 2/16/5 7/15/5 4/14/5
+f 5/6/3 2/5/3 7/17/3
+f 7/17/4 2/5/4 5/6/4
+f 1/9/5 5/8/5 8/18/5
+f 8/18/6 5/8/6 1/9/6
+f 6/12/4 1/11/4 8/19/4
+f 8/19/3 1/11/3 6/12/3
+f 7/15/6 4/14/6 6/20/6
+f 6/20/5 4/14/5 7/15/5
+f 6/21/2 5/22/2 7/23/2
+f 7/23/1 5/22/1 6/21/1
+f 5/22/2 6/21/2 8/24/2
+f 8/24/1 6/21/1 5/22/1

Microwave/7310/partnet_mobility/textured_objs/original-4.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4117647058823529 0.4117647058823529 0.4117647058823529 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

Microwave/7310/partnet_mobility/textured_objs/original-5.obj.convex.stl

@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex 0.361407012 -0.320358008 0.561209977
+  vertex 0.617078006 -0.320358008 0.561209977
+  vertex 0.617078006 -0.320358008 0.574388981
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.361407012 -0.320358008 0.561209977
+  vertex 0.617078006 -0.320358008 0.574388981
+  vertex 0.361407012 -0.320358008 0.574388981
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.617078006 0.35266301 0.561209977
+  vertex 0.617078006 0.35266301 0.574388981
+  vertex 0.617078006 -0.320358008 0.574388981
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.617078006 0.35266301 0.561209977
+  vertex 0.617078006 -0.320358008 0.574388981
+  vertex 0.617078006 -0.320358008 0.561209977
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.617078006 0.35266301 0.561209977
+  vertex 0.617078006 -0.320358008 0.561209977
+  vertex 0.361407012 -0.320358008 0.561209977
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.617078006 0.35266301 0.561209977
+  vertex 0.361407012 -0.320358008 0.561209977
+  vertex 0.361407012 0.35266301 0.561209977
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.361407012 0.35266301 0.574388981
+  vertex 0.361407012 -0.320358008 0.574388981
+  vertex 0.617078006 -0.320358008 0.574388981
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.361407012 0.35266301 0.574388981
+  vertex 0.617078006 -0.320358008 0.574388981
+  vertex 0.617078006 0.35266301 0.574388981
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.361407012 0.35266301 0.574388981
+  vertex 0.617078006 0.35266301 0.574388981
+  vertex 0.617078006 0.35266301 0.561209977
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.361407012 0.35266301 0.574388981
+  vertex 0.617078006 0.35266301 0.561209977
+  vertex 0.361407012 0.35266301 0.561209977
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.361407012 0.35266301 0.574388981
+  vertex 0.361407012 0.35266301 0.561209977
+  vertex 0.361407012 -0.320358008 0.561209977
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.361407012 0.35266301 0.574388981
+  vertex 0.361407012 -0.320358008 0.561209977
+  vertex 0.361407012 -0.320358008 0.574388981
+  endloop
+ endfacet
+
+endsolid AssimpScene

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/0.txt

@@ -0,0 +1 @@
+0 storage_furniture storage_furniture

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/12.txt

@@ -0,0 +1 @@
+12 frame_horizontal_bar frame_horizontal_bar

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/14.txt

@@ -0,0 +1 @@
+14 frame_horizontal_bar frame_horizontal_bar

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/23.txt

@@ -0,0 +1 @@
+23 cabinet_door cabinet_door

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/26.txt

@@ -0,0 +1 @@
+26 cabinet_door cabinet_door

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/28.txt

@@ -0,0 +1 @@
+28 handle handle

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/33.txt

@@ -0,0 +1 @@
+33 cabinet_door_surface cabinet_door_surface

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/34.txt

@@ -0,0 +1 @@
+34 handle handle

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/36.txt

@@ -0,0 +1 @@
+36 drawer_box drawer_box

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/37.txt

@@ -0,0 +1 @@
+37 drawer_front drawer_front

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/39.txt

@@ -0,0 +1 @@
+39 drawer_side drawer_side

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/40.txt

@@ -0,0 +1 @@
+40 drawer_back drawer_back

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/42.txt

@@ -0,0 +1 @@
+42 handle handle

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/43.txt

@@ -0,0 +1 @@
+43 drawer drawer

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/48.txt

@@ -0,0 +1 @@
+48 drawer_front drawer_front

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/49.txt

@@ -0,0 +1 @@
+49 drawer_side drawer_side

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/50.txt

@@ -0,0 +1 @@
+50 drawer_side drawer_side

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/51.txt

@@ -0,0 +1 @@
+51 drawer_back drawer_back

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/6.txt

@@ -0,0 +1 @@
+6 bottom_panel bottom_panel

StorageFurniture/45948/partnet_mobility/parts_render_after_merging/7.txt

@@ -0,0 +1 @@
+7 frame_vertical_bar frame_vertical_bar

StorageFurniture/47711/partnet_mobility/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.527496, -0.704018, -0.559422], "max": [0.563005, 0.669832, 0.587875]}

StorageFurniture/47711/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": [[0.49179536267739843, -0.5607079408090259, -0.021360133253204308], [-0.523944717474818, -0.5607079408090241, -0.021360133253206112], [-0.523944717474816, 0.5262595588572723, -0.021360133253206112], [0.49179536267740037, 0.5262595588572705, -0.021360133253204308], [0.49179536267739965, -0.5607079408090259, -0.7043591583541945], [-0.5239447174748166, -0.5607079408090241, -0.7043591583541963], [-0.5239447174748149, 0.5262595588572723, -0.7043591583541963], [0.4917953626774016, 0.5262595588572705, -0.7043591583541945]]}, {"link_name": "link_2", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.4917953416827961, -0.5607084742331065, 0.3218680775661159], [-0.5238499331559567, -0.560708353158755, 0.321868198640453], [-0.5238498034808865, 0.5270849787593798, 0.321868198640453], [0.4917954713578663, 0.5270848576850282, 0.3218680775661159], [0.4917953012558801, -0.5607084742331018, -0.01725751432299849], [-0.5238499735828728, -0.5607083531587502, -0.017257393248661386], [-0.5238498439078025, 0.5270849787593845, -0.017257393248661386], [0.4917954309309503, 0.527084857685033, -0.01725751432299849]]}, {"link_name": "link_3", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.4917952972999854, -0.5607082362766636, 0.6653017713617247], [-0.5238138972737273, -0.5607082362766492, 0.6653017713617105], [-0.523813897273712, 0.5268507895754678, 0.6653017713617105], [0.4917952973000007, 0.5268507895754535, 0.6653017713617247], [0.49179529729999016, -0.5607082362766636, 0.32620762230318123], [-0.5238138972737225, -0.5607082362766492, 0.326207622303167], [-0.5238138972737072, 0.5268507895754678, 0.326207622303167], [0.4917952973000055, 0.5268507895754535, 0.32620762230318123]]}, {"link_name": "link_4", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.5886671307383455, 0.4574907124999999, -0.09392783123388297], [-0.5886671307383455, -0.4968877124999999, -0.09392783123388297], [-0.5886671307383455, -0.4968877124999999, -0.11660232592142235], [-0.5886671307383455, 0.4574907124999999, -0.11660232592142235], [-0.522525962453404, 0.4574907124999999, -0.09392783123388297], [-0.522525962453404, -0.4968877124999999, -0.09392783123388297], [-0.522525962453404, -0.4968877124999999, -0.11660232592142235], [-0.522525962453404, 0.4574907124999999, -0.11660232592142235]]}, {"link_name": "link_5", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.5886120021450543, 0.4574907124999999, 0.24947343235267314], [-0.5886120021450543, -0.4968877124999999, 0.24947343235267314], [-0.5886120021450543, -0.4968877124999999, 0.22686570743010862], [-0.5886120021450543, 0.4574907124999999, 0.22686570743010862], [-0.5225259900039254, 0.4574907124999999, 0.24947343235267314], [-0.5225259900039254, -0.4968877124999999, 0.24947343235267314], [-0.5225259900039254, -0.4968877124999999, 0.22686570743010862], [-0.5225259900039254, 0.4574907124999999, 0.22686570743010862]]}, {"link_name": "link_6", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.588609952649032, 0.4574907124999999, 0.5929077195767698], [-0.588609952649032, -0.4968877124999999, 0.5929077195767698], [-0.588609952649032, -0.4968877124999999, 0.5703307227788221], [-0.588609952649032, 0.4574907124999999, 0.5703307227788221], [-0.5225259910281614, 0.4574907124999999, 0.5929077195767698], [-0.5225259910281614, -0.4968877124999999, 0.5929077195767698], [-0.5225259910281614, -0.4968877124999999, 0.5703307227788221], [-0.5225259910281614, 0.4574907124999999, 0.5703307227788221]]}]

StorageFurniture/47711/partnet_mobility/meta.json

@@ -0,0 +1 @@
+{"model_id": "9f26b723e21d0fe94c3aee8e9d3a6ffa", "anno_id": "47711", "user_id": "face++zjingna", "time_in_sec": "341", "version": "2", "model_cat": "StorageFurniture"}

StorageFurniture/47711/partnet_mobility/mobility.urdf

@@ -0,0 +1,602 @@
+<?xml version="1.0" ?>
+<robot name="partnet_9f26b723e21d0fe94c3aee8e9d3a6ffa">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="vertical_side_panel-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-35">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-38">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-39">
+			<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-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-9.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-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-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-27">
+			<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-34.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-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-37.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-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_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="0.8"/>
+	</joint>
+	<link name="link_2">
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-23">
+			<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_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="0.8"/>
+	</joint>
+	<link name="link_3">
+		<visual name="drawer_front-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.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-54.obj"/>
+			</geometry>
+		</collision>
+		<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-63.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-59.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_3"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.8"/>
+	</joint>
+</robot>

StorageFurniture/47711/partnet_mobility/mobility_annotation_gapartnet.urdf

@@ -0,0 +1,623 @@
+<?xml version="1.0" ?>
+<robot name="partnet_9f26b723e21d0fe94c3aee8e9d3a6ffa">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="vertical_side_panel-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-35">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-38">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-39">
+			<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-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-9.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-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-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-27">
+			<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-34.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-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-37.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-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_0"/>
+		<limit lower="0" upper="0.8"/>
+	</joint>
+	<link name="link_2">
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-23">
+			<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_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="0.8"/>
+	</joint>
+	<link name="link_3">
+		<visual name="drawer_front-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.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-54.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-59.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_3"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.8"/>
+	</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_1"/>
+	</joint>
+	<link name="link_5">
+		<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_5" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_5"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_6">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.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_3"/>
+	</joint>
+</robot>

StorageFurniture/47711/partnet_mobility/mobility_texture_gapartnet.urdf

@@ -0,0 +1,602 @@
+<?xml version="1.0" ?>
+<robot name="partnet_9f26b723e21d0fe94c3aee8e9d3a6ffa">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="vertical_side_panel-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-35">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-38">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-39">
+			<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-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-9.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-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-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-27">
+			<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-34.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-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-37.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-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_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="0.8"/>
+	</joint>
+	<link name="link_2">
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-23">
+			<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_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="0.8"/>
+	</joint>
+	<link name="link_3">
+		<visual name="drawer_front-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.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-54.obj"/>
+			</geometry>
+		</collision>
+		<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-63.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-59.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_3"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.8"/>
+	</joint>
+</robot>

StorageFurniture/47711/partnet_mobility/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"heavy","name":"cabinet_frame","parts":[{"id":33,"name":"vertical_side_panel","children":[]},{"id":34,"name":"vertical_side_panel","children":[]},{"id":35,"name":"back_panel","children":[]},{"id":36,"name":"bottom_panel","children":[]},{"id":37,"name":"top_panel","children":[]},{"id":38,"name":"frame_horizontal_bar","children":[]},{"id":39,"name":"frame_horizontal_bar","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"slider","name":"drawer","parts":[{"id":28,"name":"drawer_front","children":[]},{"id":29,"name":"drawer_side","children":[]},{"id":30,"name":"drawer_side","children":[]},{"id":31,"name":"drawer_back","children":[]},{"id":32,"name":"drawer_bottom","children":[]},{"id":25,"name":"handle","children":[]},{"id":26,"name":"drawer_rails","children":[]},{"id":27,"name":"drawer_rails","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.8,"noLimit":false}}},{"id":2,"parent":0,"joint":"slider","name":"drawer","parts":[{"id":17,"name":"drawer_front","children":[]},{"id":18,"name":"drawer_side","children":[]},{"id":19,"name":"drawer_side","children":[]},{"id":20,"name":"drawer_back","children":[]},{"id":21,"name":"drawer_bottom","children":[]},{"id":16,"name":"handle","children":[]},{"id":22,"name":"drawer_rails","children":[]},{"id":23,"name":"drawer_rails","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.8,"noLimit":false}}},{"id":3,"parent":0,"joint":"slider","name":"drawer","parts":[{"id":8,"name":"drawer_front","children":[]},{"id":9,"name":"drawer_side","children":[]},{"id":10,"name":"drawer_side","children":[]},{"id":11,"name":"drawer_back","children":[]},{"id":12,"name":"drawer_bottom","children":[]},{"id":7,"name":"handle","children":[]},{"id":13,"name":"drawer_rails","children":[]},{"id":14,"name":"drawer_rails","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.8,"noLimit":false}}}]

StorageFurniture/47711/partnet_mobility/parts_render/0.txt

@@ -0,0 +1 @@
+0 storage_furniture Storage Furniture

StorageFurniture/47711/partnet_mobility/parts_render/12.txt

@@ -0,0 +1 @@
+12 drawer_bottom Drawer bottom

StorageFurniture/47711/partnet_mobility/parts_render/14.txt

@@ -0,0 +1 @@
+14 drawer_rails Drawer rails

StorageFurniture/47711/partnet_mobility/parts_render/23.txt

@@ -0,0 +1 @@
+23 drawer_rails Drawer rails

StorageFurniture/47711/partnet_mobility/parts_render/26.txt

@@ -0,0 +1 @@
+26 drawer_rails Drawer rails

StorageFurniture/47711/partnet_mobility/parts_render/28.txt

@@ -0,0 +1 @@
+28 drawer_front Drawer front

StorageFurniture/47711/partnet_mobility/parts_render/33.txt

@@ -0,0 +1 @@
+33 vertical_side_panel Vertical side panel

StorageFurniture/47711/partnet_mobility/parts_render/34.txt

@@ -0,0 +1 @@
+34 vertical_side_panel Vertical side panel

StorageFurniture/47711/partnet_mobility/parts_render/36.txt

@@ -0,0 +1 @@
+36 bottom_panel Bottom panel

StorageFurniture/47711/partnet_mobility/parts_render/37.txt

@@ -0,0 +1 @@
+37 top_panel Top panel

StorageFurniture/47711/partnet_mobility/parts_render/39.txt

@@ -0,0 +1 @@
+39 frame_horizontal_bar Horizontal support bar

StorageFurniture/47711/partnet_mobility/parts_render/6.txt

@@ -0,0 +1 @@
+6 drawer_box Drawer box

StorageFurniture/47711/partnet_mobility/parts_render/7.txt

@@ -0,0 +1 @@
+7 handle Handle

StorageFurniture/47711/partnet_mobility/result.json

@@ -0,0 +1 @@
+[{"text": "Storage Furniture", "children": [{"text": "Cabinet", "children": [{"text": "Cabinet frame", "children": [{"text": "Vertical side panel", "objs": ["original-6", "original-7"], "id": 33, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-4", "original-3"], "id": 34, "name": "vertical_side_panel"}, {"text": "Back panel", "objs": ["original-15"], "id": 35, "name": "back_panel"}, {"text": "Bottom panel", "objs": ["original-9", "original-10"], "id": 36, "name": "bottom_panel"}, {"text": "Top panel", "objs": ["original-13", "original-12"], "id": 37, "name": "top_panel"}, {"text": "Horizontal support bar", "objs": ["original-16"], "id": 38, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-14"], "id": 39, "name": "frame_horizontal_bar"}], "id": 2, "name": "cabinet_frame"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-34", "original-41"], "id": 28, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-39"], "id": 29, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-40"], "id": 30, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-42"], "id": 31, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-37", "original-38"], "id": 32, "name": "drawer_bottom"}], "id": 24, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-46", "original-47", "original-48"], "id": 25, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-43"], "id": 26, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-44"], "id": 27, "name": "drawer_rails"}], "id": 3, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-18", "original-25"], "id": 17, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-23"], "id": 18, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-24"], "id": 19, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-26"], "id": 20, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-21", "original-22"], "id": 21, "name": "drawer_bottom"}], "id": 15, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-30", "original-31", "original-32"], "id": 16, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-27"], "id": 22, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-28"], "id": 23, "name": "drawer_rails"}], "id": 4, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-50", "original-57"], "id": 8, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-55"], "id": 9, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-56"], "id": 10, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-58"], "id": 11, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-53", "original-54"], "id": 12, "name": "drawer_bottom"}], "id": 6, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-62", "original-63", "original-64"], "id": 7, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-60"], "id": 13, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-59"], "id": 14, "name": "drawer_rails"}], "id": 5, "name": "drawer"}], "id": 1, "name": "cabinet"}], "id": 0, "name": "storage_furniture"}]

StorageFurniture/47711/partnet_mobility/result_after_merging.json

@@ -0,0 +1 @@
+[{"ori_id": 0, "children": [{"ori_id": 1, "children": [{"ori_id": 2, "children": [{"id": 3, "name": "vertical_side_panel", "ori_id": 33, "objs": ["original-6", "original-7"], "text": "vertical_side_panel"}, {"id": 4, "name": "vertical_side_panel", "ori_id": 34, "objs": ["original-4", "original-3"], "text": "vertical_side_panel"}, {"id": 5, "name": "back_panel", "ori_id": 35, "objs": ["original-15"], "text": "back_panel"}, {"id": 6, "name": "bottom_panel", "ori_id": 36, "objs": ["original-9", "original-10"], "text": "bottom_panel"}, {"id": 7, "name": "top_panel", "ori_id": 37, "objs": ["original-13", "original-12"], "text": "top_panel"}, {"id": 8, "name": "frame_horizontal_bar", "ori_id": 38, "objs": ["original-16"], "text": "frame_horizontal_bar"}, {"id": 9, "name": "frame_horizontal_bar", "ori_id": 39, "objs": ["original-14"], "text": "frame_horizontal_bar"}], "id": 2, "name": "cabinet_frame", "objs": ["original-6", "original-7", "original-4", "original-3", "original-15", "original-9", "original-10", "original-13", "original-12", "original-16", "original-14"], "text": "cabinet_frame"}, {"ori_id": 3, "children": [{"ori_id": 24, "children": [{"id": 12, "name": "drawer_front", "ori_id": 28, "objs": ["original-34", "original-41"], "text": "drawer_front"}, {"id": 13, "name": "drawer_side", "ori_id": 29, "objs": ["original-39"], "text": "drawer_side"}, {"id": 14, "name": "drawer_side", "ori_id": 30, "objs": ["original-40"], "text": "drawer_side"}, {"id": 15, "name": "drawer_back", "ori_id": 31, "objs": ["original-42"], "text": "drawer_back"}, {"id": 16, "name": "drawer_bottom", "ori_id": 32, "objs": ["original-37", "original-38"], "text": "drawer_bottom"}], "id": 11, "name": "drawer_box", "objs": ["original-34", "original-41", "original-39", "original-40", "original-42", "original-37", "original-38"], "text": "drawer_box"}, {"id": 17, "name": "handle", "ori_id": 25, "objs": ["original-46", "original-47", "original-48"], "text": "handle"}], "id": 10, "name": "drawer", "objs": ["original-34", "original-41", "original-39", "original-40", "original-42", "original-37", "original-38", "original-46", "original-47", "original-48", "original-43", "original-44"], "text": "drawer"}, {"ori_id": 4, "children": [{"ori_id": 15, "children": [{"id": 20, "name": "drawer_front", "ori_id": 17, "objs": ["original-18", "original-25"], "text": "drawer_front"}, {"id": 21, "name": "drawer_side", "ori_id": 18, "objs": ["original-23"], "text": "drawer_side"}, {"id": 22, "name": "drawer_side", "ori_id": 19, "objs": ["original-24"], "text": "drawer_side"}, {"id": 23, "name": "drawer_back", "ori_id": 20, "objs": ["original-26"], "text": "drawer_back"}, {"id": 24, "name": "drawer_bottom", "ori_id": 21, "objs": ["original-21", "original-22"], "text": "drawer_bottom"}], "id": 19, "name": "drawer_box", "objs": ["original-18", "original-25", "original-23", "original-24", "original-26", "original-21", "original-22"], "text": "drawer_box"}, {"id": 25, "name": "handle", "ori_id": 16, "objs": ["original-30", "original-31", "original-32"], "text": "handle"}], "id": 18, "name": "drawer", "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"], "text": "drawer"}, {"ori_id": 5, "children": [{"ori_id": 6, "children": [{"id": 28, "name": "drawer_front", "ori_id": 8, "objs": ["original-50", "original-57"], "text": "drawer_front"}, {"id": 29, "name": "drawer_side", "ori_id": 9, "objs": ["original-55"], "text": "drawer_side"}, {"id": 30, "name": "drawer_side", "ori_id": 10, "objs": ["original-56"], "text": "drawer_side"}, {"id": 31, "name": "drawer_back", "ori_id": 11, "objs": ["original-58"], "text": "drawer_back"}, {"id": 32, "name": "drawer_bottom", "ori_id": 12, "objs": ["original-53", "original-54"], "text": "drawer_bottom"}], "id": 27, "name": "drawer_box", "objs": ["original-50", "original-57", "original-55", "original-56", "original-58", "original-53", "original-54"], "text": "drawer_box"}, {"id": 33, "name": "handle", "ori_id": 7, "objs": ["original-62", "original-63", "original-64"], "text": "handle"}], "id": 26, "name": "drawer", "objs": ["original-50", "original-57", "original-55", "original-56", "original-58", "original-53", "original-54", "original-62", "original-63", "original-64", "original-60", "original-59"], "text": "drawer"}], "id": 1, "name": "cabinet", "objs": ["original-6", "original-7", "original-4", "original-3", "original-15", "original-9", "original-10", "original-13", "original-12", "original-16", "original-14", "original-34", "original-41", "original-39", "original-40", "original-42", "original-37", "original-38", "original-46", "original-47", "original-48", "original-43", "original-44", "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-50", "original-57", "original-55", "original-56", "original-58", "original-53", "original-54", "original-62", "original-63", "original-64", "original-60", "original-59"], "text": "cabinet"}], "id": 0, "name": "storage_furniture", "objs": ["original-6", "original-7", "original-4", "original-3", "original-15", "original-9", "original-10", "original-13", "original-12", "original-16", "original-14", "original-34", "original-41", "original-39", "original-40", "original-42", "original-37", "original-38", "original-46", "original-47", "original-48", "original-43", "original-44", "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-50", "original-57", "original-55", "original-56", "original-58", "original-53", "original-54", "original-62", "original-63", "original-64", "original-60", "original-59"], "text": "storage_furniture"}]

StorageFurniture/47711/partnet_mobility/semantics.txt

@@ -0,0 +1,4 @@
+link_0 heavy furniture_body
+link_1 slider drawer
+link_2 slider drawer
+link_3 slider drawer

StorageFurniture/47711/partnet_mobility/semantics_gapartnet.txt

@@ -0,0 +1,7 @@
+link_0 heavy furniture_body
+link_1 slider drawer
+link_2 slider drawer
+link_3 slider drawer
+link_4 fixed handle
+link_5 fixed handle
+link_6 fixed handle

StorageFurniture/47711/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><td></td><td></td><td></td><td></td><td></td><td></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></tr><tr><td><p>33 vertical_side_panel Vertical side panel</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 vertical_side_panel Vertical side panel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 back_panel Back panel</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 bottom_panel Bottom panel</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 top_panel Top panel</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 frame_horizontal_bar Horizontal 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_horizontal_bar Horizontal support bar</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>24 drawer_box Drawer box</p><a href="parts_render/24.png"><img src="parts_render/24.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/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 drawer_rails Drawer rails</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 drawer_rails Drawer rails</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>15 drawer_box Drawer box</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 handle Handle</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td><p>22 drawer_rails Drawer rails</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 drawer_rails Drawer rails</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 drawer_box Drawer box</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>7 handle Handle</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>13 drawer_rails Drawer rails</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 drawer_rails Drawer rails</p><a href="parts_render/14.png"><img src="parts_render/14.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>28 drawer_front Drawer front</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 drawer_side Drawer side</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 drawer_side Drawer side</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 drawer_back Drawer back</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 drawer_bottom Drawer bottom</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></td><td></td><td></td><td></td><td></td><td></td><td><p>17 drawer_front Drawer front</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 drawer_side Drawer side</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 drawer_side Drawer side</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 drawer_back Drawer back</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 drawer_bottom Drawer bottom</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 drawer_front Drawer front</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_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_back Drawer back</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_bottom Drawer bottom</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td></tr></table></body></html>

StorageFurniture/47711/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><td></td><td></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>26 drawer drawer</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.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><td></td><td></td><td><p>27 drawer_box drawer_box</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>33 handle handle</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.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><td></td><td></td><td></td><td></td><td></td><td><p>28 drawer_front drawer_front</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><p>29 drawer_side drawer_side</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><p>30 drawer_side drawer_side</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_back drawer_back</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_bottom drawer_bottom</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td></tr></table></body></html>