diff --git a/Dishwasher/12561/hoi_trajectories/handle_1/trajectory.json b/Dishwasher/12561/hoi_trajectories/handle_1/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e409ed26e3d81de8fd6965f4ff18e4113cdcb03e
--- /dev/null
+++ b/Dishwasher/12561/hoi_trajectories/handle_1/trajectory.json
@@ -0,0 +1,20177 @@
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\ No newline at end of file
diff --git a/Dishwasher/12561/partnet_mobility/point_sample/label-10000.txt b/Dishwasher/12561/partnet_mobility/point_sample/label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a66059f73c5a1244c44b1c5244b6535f346995fd
--- /dev/null
+++ b/Dishwasher/12561/partnet_mobility/point_sample/label-10000.txt
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diff --git a/Dishwasher/12561/partnet_mobility/point_sample/pts-10000.txt b/Dishwasher/12561/partnet_mobility/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..91701f0fecb026512c95b2913522b03277b78326
--- /dev/null
+++ b/Dishwasher/12561/partnet_mobility/point_sample/pts-10000.txt
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diff --git a/Dishwasher/12561/partnet_mobility/point_sample/sample-points-all-label-10000.txt b/Dishwasher/12561/partnet_mobility/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..65d172b48f0a7897d281e88409c315ec53e65dda
--- /dev/null
+++ b/Dishwasher/12561/partnet_mobility/point_sample/sample-points-all-label-10000.txt
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diff --git a/Dishwasher/12561/partnet_mobility/point_sample/sample-points-all-pts-label-10000.ply b/Dishwasher/12561/partnet_mobility/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d4d5c3b0e628033ef5a03d1cac90641d44491c87
--- /dev/null
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diff --git a/Dishwasher/12561/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/Dishwasher/12561/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..18dedaa4f50cf39447908bcf8ea802a154d55b55
--- /dev/null
+++ b/Dishwasher/12561/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
@@ -0,0 +1,10000 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..7c8e350c197df3d77251bf120b65b97296472de2
--- /dev/null
+++ b/Dishwasher/12561/partnet_mobility/textured_objs/original-2.mtl
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index 0000000000000000000000000000000000000000..bacc8c98f2d7fcc15d6b59dc6f2aa7a50caf9d82
--- /dev/null
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--- /dev/null
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diff --git a/Dishwasher/12583/partnet_mobility/mobility_annotation_gapartnet.urdf b/Dishwasher/12583/partnet_mobility/mobility_annotation_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2c677bb8b1cc9f3c8bbf851f88738dca472bee93
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/mobility_annotation_gapartnet.urdf
@@ -0,0 +1,1323 @@
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diff --git a/Dishwasher/12583/partnet_mobility/mobility_texture_gapartnet.urdf b/Dishwasher/12583/partnet_mobility/mobility_texture_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3a69874c22d382786f0f976a069fb8d0cbd88a1b
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/mobility_texture_gapartnet.urdf
@@ -0,0 +1,1316 @@
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diff --git a/Dishwasher/12583/partnet_mobility/mobility_v2.json b/Dishwasher/12583/partnet_mobility/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ea2eda1fda1db69dac87e2237c30c09aa3429b5
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"heavy","name":"surface","parts":[{"id":4,"name":"surface","children":[]},{"id":9,"name":"frame","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"hinge","name":"door","parts":[{"id":7,"name":"door_frame","children":[]},{"id":8,"name":"handle","children":[]},{"id":11,"name":"control_button","children":[]},{"id":12,"name":"control_panel","children":[]}],"jointData":{"axis":{"origin":[-0.5263590216636658,-0.560625253387825,0.44304652815010204],"direction":[1,0,0]},"limit":{"a":0,"b":90,"noLimit":false}}}]
\ No newline at end of file
diff --git a/Dishwasher/12583/partnet_mobility/parts_render/0.txt b/Dishwasher/12583/partnet_mobility/parts_render/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..96b1245d86c0920d5157dceb8184b582be9f64ad
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/parts_render/0.txt
@@ -0,0 +1 @@
+0 dishwasher Dish Washer
\ No newline at end of file
diff --git a/Dishwasher/12583/partnet_mobility/parts_render/1.txt b/Dishwasher/12583/partnet_mobility/parts_render/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d05fb93cc0d849f0bc065206d692871b201fbcf
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/parts_render/1.txt
@@ -0,0 +1 @@
+1 body Body
\ No newline at end of file
diff --git a/Dishwasher/12583/partnet_mobility/parts_render/10.txt b/Dishwasher/12583/partnet_mobility/parts_render/10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43c3c392f65fe358baeb6624bc0bbb8455791d60
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/parts_render/10.txt
@@ -0,0 +1 @@
+10 side_controls Side Controls
\ No newline at end of file
diff --git a/Dishwasher/12583/partnet_mobility/parts_render/12.txt b/Dishwasher/12583/partnet_mobility/parts_render/12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..494efd5669be1848d27eb1cef2d77fe24f51fed6
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/parts_render/12.txt
@@ -0,0 +1 @@
+12 control_panel Control Panel
\ No newline at end of file
diff --git a/Dishwasher/12583/partnet_mobility/parts_render/2.txt b/Dishwasher/12583/partnet_mobility/parts_render/2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2a7de4e9c051985b954af3d59201c13649d6ea68
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/parts_render/2.txt
@@ -0,0 +1 @@
+2 base Base
\ No newline at end of file
diff --git a/Dishwasher/12583/partnet_mobility/parts_render/3.txt b/Dishwasher/12583/partnet_mobility/parts_render/3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cfbe173cb3ec94ca1cbeabef4ed21a7819645a5b
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/parts_render/3.txt
@@ -0,0 +1 @@
+3 surface_base Surface Base
\ No newline at end of file
diff --git a/Dishwasher/12583/partnet_mobility/parts_render/4.txt b/Dishwasher/12583/partnet_mobility/parts_render/4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1bdc89499405b56d256560e9d585721f66074345
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/parts_render/4.txt
@@ -0,0 +1 @@
+4 surface Surface
\ No newline at end of file
diff --git a/Dishwasher/12583/partnet_mobility/parts_render/6.txt b/Dishwasher/12583/partnet_mobility/parts_render/6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8ac0c1877d6358fe95b3604b9bb83c84bd9c243a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/parts_render/6.txt
@@ -0,0 +1 @@
+6 door Door
\ No newline at end of file
diff --git a/Dishwasher/12583/partnet_mobility/parts_render/7.txt b/Dishwasher/12583/partnet_mobility/parts_render/7.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4c03e9c21c3bfac5af51a8172acbc2a062c95f5
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/parts_render/7.txt
@@ -0,0 +1 @@
+7 door_frame Door Frame
\ No newline at end of file
diff --git a/Dishwasher/12583/partnet_mobility/parts_render/8.txt b/Dishwasher/12583/partnet_mobility/parts_render/8.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b577135559ca9bc2351ee7440df5b589dd63bed6
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/parts_render/8.txt
@@ -0,0 +1 @@
+8 handle Handle
\ No newline at end of file
diff --git a/Dishwasher/12583/partnet_mobility/result.json b/Dishwasher/12583/partnet_mobility/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdace52ead30b8a722942039a951366318e9829e
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/result.json
@@ -0,0 +1 @@
+[{"text": "Dish Washer", "children": [{"text": "Body", "children": [{"text": "Door", "children": [{"text": "Door Frame", "objs": ["original-10", "original-3", "original-17", "original-4"], "id": 7, "name": "door_frame"}, {"text": "Handle", "objs": ["original-64", "original-65", "original-66"], "id": 8, "name": "handle"}], "id": 6, "name": "door"}, {"text": "Frame", "objs": ["original-2", "original-79", "original-80", "original-78"], "id": 9, "name": "frame"}, {"text": "Side Controls", "children": [{"text": "Control Button", "objs": ["original-108", "original-25", "original-100", "original-55", "original-45", "original-63", "original-14", "original-47", "original-68", "original-72", "original-54", "original-51", "original-11", "original-44", "original-69", "original-18", "original-32", "original-92", "original-96", "original-21", "original-83", "original-28", "original-86", "original-91", "original-97", "original-48", "original-67", "original-13", "original-7", "original-12", "original-8", "original-42", "original-52", "original-106", "original-37", "original-99", "original-101", "original-102", "original-103", "original-26", "original-23", "original-24", "original-82", "original-29", "original-27", "original-20", "original-22", "original-19", "original-49", "original-61", "original-62", "original-50", "original-87", "original-85", "original-88", "original-90", "original-15", "original-89", "original-38", "original-40", "original-39", "original-41", "original-36", "original-71", "original-33", "original-35", "original-34", "original-107", "original-95", "original-16", "original-46", "original-105", "original-9", "original-70", "original-43", "original-5", "original-53", "original-104", "original-84", "original-98", "original-73", "original-109", "original-31", "original-58", "original-57", "original-77", "original-75", "original-74", "original-93", "original-60", "original-59", "original-76", "original-30", "original-56", "original-94"], "id": 11, "name": "control_button"}, {"text": "Control Panel", "objs": ["original-81"], "id": 12, "name": "control_panel"}], "id": 10, "name": "side_controls"}], "id": 1, "name": "body"}, {"text": "Base", "children": [{"text": "Surface Base", "children": [{"text": "Surface", "objs": ["original-1"], "id": 4, "name": "surface"}], "id": 3, "name": "surface_base"}], "id": 2, "name": "base"}], "id": 0, "name": "dishwasher"}]
\ No newline at end of file
diff --git a/Dishwasher/12583/partnet_mobility/result_after_merging.json b/Dishwasher/12583/partnet_mobility/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..c04b21ffc948edbd87d34c399fb259928908fa68
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/result_after_merging.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "dishwasher", "ori_id": 0, "objs": ["original-10", "original-3", "original-17", "original-4", "original-64", "original-65", "original-66", "original-2", "original-79", "original-80", "original-78", "original-108", "original-25", "original-100", "original-55", "original-45", "original-63", "original-14", "original-47", "original-68", "original-72", "original-54", "original-51", "original-11", "original-44", "original-69", "original-18", "original-32", "original-92", "original-96", "original-21", "original-83", "original-28", "original-86", "original-91", "original-97", "original-48", "original-67", "original-13", "original-7", "original-12", "original-8", "original-42", "original-52", "original-106", "original-37", "original-99", "original-101", "original-102", "original-103", "original-26", "original-23", "original-24", "original-82", "original-29", "original-27", "original-20", "original-22", "original-19", "original-49", "original-61", "original-62", "original-50", "original-87", "original-85", "original-88", "original-90", "original-15", "original-89", "original-38", "original-40", "original-39", "original-41", "original-36", "original-71", "original-33", "original-35", "original-34", "original-107", "original-95", "original-16", "original-46", "original-105", "original-9", "original-70", "original-43", "original-5", "original-53", "original-104", "original-84", "original-98", "original-73", "original-109", "original-31", "original-58", "original-57", "original-77", "original-75", "original-74", "original-93", "original-60", "original-59", "original-76", "original-30", "original-56", "original-94", "original-81", "original-1"], "text": "dishwasher", "children": [{"id": 1, "name": "body", "ori_id": 1, "objs": ["original-10", "original-3", "original-17", "original-4", "original-64", "original-65", "original-66", "original-2", "original-79", "original-80", "original-78", "original-108", "original-25", "original-100", "original-55", "original-45", "original-63", "original-14", "original-47", "original-68", "original-72", "original-54", "original-51", "original-11", "original-44", "original-69", "original-18", "original-32", "original-92", "original-96", "original-21", "original-83", "original-28", "original-86", "original-91", "original-97", "original-48", "original-67", "original-13", "original-7", "original-12", "original-8", "original-42", "original-52", "original-106", "original-37", "original-99", "original-101", "original-102", "original-103", "original-26", "original-23", "original-24", "original-82", "original-29", "original-27", "original-20", "original-22", "original-19", "original-49", "original-61", "original-62", "original-50", "original-87", "original-85", "original-88", "original-90", "original-15", "original-89", "original-38", "original-40", "original-39", "original-41", "original-36", "original-71", "original-33", "original-35", "original-34", "original-107", "original-95", "original-16", "original-46", "original-105", "original-9", "original-70", "original-43", "original-5", "original-53", "original-104", "original-84", "original-98", "original-73", "original-109", "original-31", "original-58", "original-57", "original-77", "original-75", "original-74", "original-93", "original-60", "original-59", "original-76", "original-30", "original-56", "original-94", "original-81"], "text": "body", "children": [{"id": 2, "name": "door", "ori_id": 6, "objs": ["original-10", "original-3", "original-17", "original-4", "original-64", "original-65", "original-66"], "text": "door", "children": [{"id": 3, "objs": ["original-10", "original-3", "original-17", "original-4"], "text": "door_frame", "name": "door_frame", "ori_id": 7}, {"id": 4, "objs": ["original-64", "original-65", "original-66"], "text": "handle", "name": "handle", "ori_id": 8}]}, {"id": 5, "objs": ["original-2", "original-79", "original-80", "original-78"], "text": "frame", "name": "frame", "ori_id": 9}]}, {"id": 6, "name": "base", "ori_id": 2, "objs": ["original-1"], "text": "base", "children": [{"id": 7, "name": "surface_base", "ori_id": 3, "objs": ["original-1"], "text": "surface_base", "children": [{"id": 8, "objs": ["original-1"], "text": "surface", "name": "surface", "ori_id": 4}]}]}]}]
\ No newline at end of file
diff --git a/Dishwasher/12583/partnet_mobility/semantics.txt b/Dishwasher/12583/partnet_mobility/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..49c9f3bdc2c62f1f389e6c58518b76bab8e85adb
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/semantics.txt
@@ -0,0 +1,2 @@
+link_0 heavy dishwasher_body
+link_1 hinge rotation_door
diff --git a/Dishwasher/12583/partnet_mobility/semantics_gapartnet.txt b/Dishwasher/12583/partnet_mobility/semantics_gapartnet.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4a212ac7712fb6af14ed3ccaca83c6d456a5c1ea
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/semantics_gapartnet.txt
@@ -0,0 +1,3 @@
+link_0 heavy dishwasher_body
+link_1 hinge door
+link_2 fixed handle
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-1.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..529c60d6896b108a61633942a9e05b2aaeefbe1c
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-1.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 0.2 0.2 0.2
+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/Dishwasher/12583/partnet_mobility/textured_objs/original-102.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86151ddcdbe7e585fc0d0abdd5533bdada5327c6
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-102.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 102
+mtllib original-102.mtl
+o mesh102/mesh102-geometry#mesh102-geometry
+v 0.229901 0.686616 0.474275
+v 0.229901 0.686616 0.469981
+v 0.229428 0.686616 0.470264
+v 0.233563 0.686616 0.472130
+v 0.230437 0.686616 0.469800
+v 0.231020 0.686616 0.469737
+v 0.231602 0.686616 0.469800
+v 0.232138 0.686616 0.469981
+v 0.232612 0.686616 0.470264
+v 0.233006 0.686616 0.470634
+v 0.233307 0.686616 0.471079
+v 0.233496 0.686616 0.471579
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//1 4//1 5//1
+f 5//2 4//2 2//2
+f 5//1 4//1 6//1
+f 6//2 4//2 5//2
+f 6//1 4//1 7//1
+f 7//2 4//2 6//2
+f 7//1 4//1 8//1
+f 8//2 4//2 7//2
+f 8//1 4//1 9//1
+f 9//2 4//2 8//2
+f 9//1 4//1 10//1
+f 10//2 4//2 9//2
+f 10//1 4//1 11//1
+f 11//2 4//2 10//2
+f 11//1 4//1 12//1
+f 12//2 4//2 11//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-102.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-102.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..d47011365b28e2611c4953c80c36d68dcbe4ec6b
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-102.obj.convex.stl
@@ -0,0 +1,50 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
+ vertex 0.233563006 0.686822772 0.474274993
+ vertex 0.233563006 0.686822772 0.469736993
+ vertex 0.229427993 0.686409235 0.469736993
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.233563006 0.686822772 0.474274993
+ vertex 0.229427993 0.686409235 0.469736993
+ vertex 0.229427993 0.686409235 0.474274993
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.233563006 0.686409235 0.469736993
+ vertex 0.229427993 0.686409235 0.474274993
+ vertex 0.229427993 0.686409235 0.469736993
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.233563006 0.686409235 0.469736993
+ vertex 0.229427993 0.686409235 0.469736993
+ vertex 0.233563006 0.686822772 0.469736993
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.233563006 0.686822772 0.474274993
+ vertex 0.229427993 0.686409235 0.474274993
+ vertex 0.233563006 0.686409235 0.469736993
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.233563006 0.686822772 0.474274993
+ vertex 0.233563006 0.686409235 0.469736993
+ vertex 0.233563006 0.686822772 0.469736993
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-104.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-104.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-104.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-106.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1f532aaa0449673a15539c414d9a003df0ec35d
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-106.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 106
+mtllib original-106.mtl
+o mesh106/mesh106-geometry#mesh106-geometry
+v 0.121532 0.688206 0.456698
+v 0.108131 0.688206 0.457052
+v 0.105098 0.688206 0.458055
+v 0.111432 0.688206 0.456698
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-107.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-107.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-107.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-108.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0ec2fe85242a91952c9d70a71853f794c248730
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-108.obj
@@ -0,0 +1,81 @@
+# SSTK version 0.8.0
+# 108
+mtllib original-108.mtl
+o mesh108/mesh108-geometry#mesh108-geometry
+v -0.487663 0.686254 0.479093
+v -0.487725 0.686254 0.455438
+v -0.487725 0.686254 0.478589
+v -0.487663 0.686254 0.454934
+v -0.487487 0.686254 0.479553
+v -0.487487 0.686254 0.454470
+v -0.487210 0.686254 0.479962
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+v -0.486414 0.686254 0.480561
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+v -0.423910 0.686254 0.480561
+v -0.423478 0.686254 0.480301
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+v -0.422666 0.686254 0.479093
+v -0.422603 0.686254 0.478589
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 4//1 1//1 5//1
+f 5//2 1//2 4//2
+f 4//1 5//1 6//1
+f 6//2 5//2 4//2
+f 6//1 5//1 7//1
+f 7//2 5//2 6//2
+f 6//1 7//1 8//1
+f 8//2 7//2 6//2
+f 8//1 7//1 9//1
+f 9//2 7//2 8//2
+f 8//1 9//1 10//1
+f 10//2 9//2 8//2
+f 10//1 9//1 11//1
+f 11//2 9//2 10//2
+f 10//1 11//1 12//1
+f 12//2 11//2 10//2
+f 12//1 11//1 13//1
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+f 12//1 13//1 14//1
+f 14//2 13//2 12//2
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+f 14//1 15//1 16//1
+f 16//2 15//2 14//2
+f 16//1 15//1 17//1
+f 17//2 15//2 16//2
+f 16//1 17//1 18//1
+f 18//2 17//2 16//2
+f 18//1 17//1 19//1
+f 19//2 17//2 18//2
+f 18//1 19//1 20//1
+f 20//2 19//2 18//2
+f 20//1 19//1 21//1
+f 21//2 19//2 20//2
+f 20//1 21//1 22//1
+f 22//2 21//2 20//2
+f 20//1 22//1 23//1
+f 23//2 22//2 20//2
+f 20//1 23//1 24//1
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+f 20//1 24//1 25//1
+f 25//2 24//2 20//2
+f 20//1 25//1 26//1
+f 26//2 25//2 20//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-109.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-109.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..bdfc7d53bd087de9b335d1f9f4af5b717ece4e98
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-109.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
+ vertex 0.41523999 0.685787499 0.481344044
+ vertex 0.41523999 0.688444555 0.481344044
+ vertex 0.377942979 0.688444555 0.481344044
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.41523999 0.685787499 0.481344044
+ vertex 0.377942979 0.688444555 0.481344044
+ vertex 0.377942979 0.685787499 0.481344044
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.41523999 0.685787499 0.481344044
+ vertex 0.377942979 0.685787499 0.481344044
+ vertex 0.377942979 0.685787499 0.454773009
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.41523999 0.685787499 0.481344044
+ vertex 0.377942979 0.685787499 0.454773009
+ vertex 0.41523999 0.685787499 0.454773009
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.41523999 0.685787499 0.481344044
+ vertex 0.41523999 0.685787499 0.454773009
+ vertex 0.41523999 0.688444555 0.454773009
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.41523999 0.685787499 0.481344044
+ vertex 0.41523999 0.688444555 0.454773009
+ vertex 0.41523999 0.688444555 0.481344044
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.377942979 0.688444555 0.454773009
+ vertex 0.377942979 0.685787499 0.454773009
+ vertex 0.377942979 0.685787499 0.481344044
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.377942979 0.688444555 0.454773009
+ vertex 0.377942979 0.685787499 0.481344044
+ vertex 0.377942979 0.688444555 0.481344044
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.377942979 0.688444555 0.454773009
+ vertex 0.377942979 0.688444555 0.481344044
+ vertex 0.41523999 0.688444555 0.481344044
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.377942979 0.688444555 0.454773009
+ vertex 0.41523999 0.688444555 0.481344044
+ vertex 0.41523999 0.688444555 0.454773009
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.377942979 0.688444555 0.454773009
+ vertex 0.41523999 0.688444555 0.454773009
+ vertex 0.41523999 0.685787499 0.454773009
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.377942979 0.688444555 0.454773009
+ vertex 0.41523999 0.685787499 0.454773009
+ vertex 0.377942979 0.685787499 0.454773009
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-14.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-17.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..168c52d74c9e859bb995fabfc49d6f73f5fa7222
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-17.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0.8 0.8
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-18.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-18.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..656289b9a7a92147afcc1ee33e0091920692ab5a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-18.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
+o mesh18/mesh18-geometry#mesh18-geometry
+v -0.031825 0.688639 0.468119
+v -0.033564 0.688639 0.475700
+v -0.032110 0.688639 0.476019
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-21.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-24.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8aa0b04aec7f34e6f9d01aca4d9a1d025a118b5
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-24.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
+o mesh24/mesh24-geometry#mesh24-geometry
+v -0.024142 0.686990 0.472618
+v -0.023057 0.686990 0.464066
+v -0.024523 0.686990 0.469698
+v -0.023019 0.686990 0.467002
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-25.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-25.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49b43fa1ea9b5e1bcb8391eae15e0ec906912270
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-25.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
+o mesh25/mesh25-geometry#mesh25-geometry
+v -0.031825 0.688639 0.468119
+v -0.033312 0.688639 0.469513
+v -0.033312 0.688639 0.473626
+v -0.054317 0.688639 0.469513
+v -0.055805 0.688639 0.468119
+v -0.054317 0.688639 0.473626
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 1//1 4//1 2//1
+f 3//2 2//2 1//2
+f 2//2 4//2 1//2
+f 5//1 4//1 1//1
+f 1//2 4//2 5//2
+f 4//1 5//1 6//1
+f 6//2 5//2 4//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-26.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-26.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..d48c9d37afa8b21332ac81d799197714cd972616
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-26.obj.convex.stl
@@ -0,0 +1,50 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
+ vertex -0.0191229992 0.687240958 0.479777008
+ vertex -0.0191229992 0.687240958 0.472618014
+ vertex -0.0241420008 0.686739087 0.472618014
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.0191229992 0.687240958 0.479777008
+ vertex -0.0241420008 0.686739087 0.472618014
+ vertex -0.0241420008 0.686739087 0.479777008
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.0191229992 0.686739087 0.472618014
+ vertex -0.0241420008 0.686739087 0.479777008
+ vertex -0.0241420008 0.686739087 0.472618014
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.0191229992 0.686739087 0.472618014
+ vertex -0.0241420008 0.686739087 0.472618014
+ vertex -0.0191229992 0.687240958 0.472618014
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.0191229992 0.687240958 0.479777008
+ vertex -0.0241420008 0.686739087 0.479777008
+ vertex -0.0191229992 0.686739087 0.472618014
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.0191229992 0.687240958 0.479777008
+ vertex -0.0191229992 0.686739087 0.472618014
+ vertex -0.0191229992 0.687240958 0.472618014
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-28.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-28.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3e0c8c19bdd57e2b2007abff421d849d5809745
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-28.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
+o mesh28/mesh28-geometry#mesh28-geometry
+v -0.000012 0.686990 0.482694
+v -0.010104 0.686990 0.481682
+v -0.010108 0.686990 0.482694
+v -0.000016 0.686990 0.481682
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-28.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-28.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..13a4ea131b86eadac55aa5b07c325a7178c3e308
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-28.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
+ vertex -1.20000914e-05 0.686939418 0.481682003
+ vertex -1.20000914e-05 0.687040627 0.48269397
+ vertex -0.0101079997 0.686939418 0.481682003
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -1.20000914e-05 0.687040627 0.481682003
+ vertex -1.20000914e-05 0.686939418 0.481682003
+ vertex -0.0101079997 0.686939418 0.481682003
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -1.20000914e-05 0.687040627 0.481682003
+ vertex -0.0101079997 0.686939418 0.481682003
+ vertex -1.20000914e-05 0.687040627 0.48269397
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -1.20000914e-05 0.687040627 0.481682003
+ vertex -1.20000914e-05 0.687040627 0.48269397
+ vertex -1.20000914e-05 0.686939418 0.481682003
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-3.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4d4e2390d3c5c3e9f45607c7474cf0363adaac9
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-3.obj
@@ -0,0 +1,1962 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o mesh3/mesh3-geometry#mesh3-geometry
+v -0.028340 -0.440932 0.502310
+v -0.027833 -0.438375 0.503885
+v -0.028340 -0.440932 0.503885
+v -0.027833 -0.438375 0.502310
+v -0.031084 -0.440853 0.503885
+v -0.029240 -0.443204 0.502310
+v -0.027548 -0.435927 0.503885
+v -0.032018 -0.442943 0.503885
+v -0.030120 -0.437858 0.503885
+v -0.029240 -0.443204 0.503885
+v -0.027548 -0.435927 0.502310
+v -0.031084 -0.440853 0.502310
+v -0.030120 -0.437858 0.502310
+v -0.030451 -0.445117 0.502310
+v -0.027338 -0.433828 0.503885
+v -0.029873 -0.435271 0.503885
+v -0.033694 -0.444878 0.503885
+v -0.032018 -0.442943 0.502310
+v -0.029873 -0.435271 0.502310
+v -0.030451 -0.445117 0.503885
+v -0.027338 -0.433828 0.502310
+v -0.037891 -0.442602 0.502310
+v -0.037083 -0.440697 0.502310
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+v -0.032068 -0.446770 0.502310
+v -0.024666 -0.432331 0.502310
+v -0.032378 -0.434476 0.503885
+v -0.031519 -0.436207 0.503885
+v -0.035281 -0.445719 0.503885
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-30.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2222a7fd99307b239142f1ba490e23a280f37bd4
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-30.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-31.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-31.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..97e5ef561f00f692406311bcea1d5278f068e4b5
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-31.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-35.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-35.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-36.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-36.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6c201bf2b38d6f4ea2fa5b4a466e3d8319770d76
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-36.obj.convex.stl
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+solid AssimpScene
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+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-38.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-38.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-39.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-39.mtl
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+newmtl material_0_0
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-39.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-39.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..b51684e1f784c6fb71f4266a168bf0ffc4994cfd
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-39.obj.convex.stl
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-40.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-41.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-41.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..2b5a9783693e69f240f343d0f01cf143d743b316
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-41.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
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+ vertex 0.061243996 0.688060164 0.479777008
+ vertex 0.0702549964 0.68835187 0.482694
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ endloop
+ endfacet
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+ facet normal 0 0 0
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+ endfacet
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+ facet normal 0 0 0
+ outer loop
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+ vertex 0.0702549964 0.688060164 0.479777008
+ vertex 0.0702549964 0.68835187 0.482694
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-43.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19c46ed12921df62db5b647f346b5d28f044fc1f
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-43.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 43
+mtllib original-43.mtl
+o mesh43/mesh43-geometry#mesh43-geometry
+v 0.111432 0.688206 0.482694
+v 0.102421 0.688206 0.479777
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-47.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-47.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..d106753c02814c3254a0fb9546ac678707378965
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-47.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
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+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ endfacet
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+ facet normal 0 0 0
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+ endloop
+ endfacet
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+ facet normal 0 0 0
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+ vertex -0.0449750014 0.68858248 0.451128006
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-54.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c3320d4272971cf37070306a3b6e36b5e317627
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-54.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 54
+mtllib original-54.mtl
+o mesh54/mesh54-geometry#mesh54-geometry
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-61.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-61.mtl
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-62.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-62.mtl
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-66.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1e56ead26d1a49b9a811fb2cc94763f1fa58df4
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-66.obj
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+# SSTK version 0.8.0
+# 66
+mtllib original-66.mtl
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-67.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4acaa02ebd0238eff7e1e971bf7c9d5b305d810
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-67.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 67
+mtllib original-67.mtl
+o mesh67/mesh67-geometry#mesh67-geometry
+v 0.137615 0.689324 0.474555
+v 0.136597 0.689324 0.469092
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-68.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-68.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..2138caa5d105cc184f739f510ef58f222628ebbf
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-68.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-7.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b24eb2916ce78ac9cd0258369e9084168ea270c9
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-7.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o mesh7/mesh7-geometry#mesh7-geometry
+v 0.136597 0.689324 0.467175
+v 0.134331 0.689324 0.466403
+v 0.134331 0.689324 0.468820
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-70.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bf9ec8b4e877b0c4788b283ddb939bca1f43a69
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-70.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 70
+mtllib original-70.mtl
+o mesh70/mesh70-geometry#mesh70-geometry
+v 0.086690 0.688206 0.481340
+v 0.080352 0.688206 0.481682
+v 0.083657 0.688206 0.482344
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-73.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c8a9eba85f227b87544c0ea5d16c79f29a880a5
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-73.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 73
+mtllib original-73.mtl
+o mesh73/mesh73-geometry#mesh73-geometry
+v 0.276176 0.686616 0.472677
+v 0.276176 0.686616 0.471579
+v 0.276109 0.686616 0.472130
+v 0.276365 0.686616 0.473181
+v 0.276365 0.686616 0.471079
+v 0.276666 0.686616 0.473626
+v 0.280638 0.686616 0.470634
+v 0.277060 0.686616 0.473996
+v 0.277534 0.686616 0.474275
+v 0.278070 0.686616 0.474456
+v 0.278652 0.686616 0.474519
+v 0.279234 0.686616 0.474456
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//1 4//1 5//1
+f 5//2 4//2 2//2
+f 5//1 4//1 6//1
+f 6//2 4//2 5//2
+f 5//1 6//1 7//1
+f 7//2 6//2 5//2
+f 7//1 6//1 8//1
+f 8//2 6//2 7//2
+f 7//1 8//1 9//1
+f 9//2 8//2 7//2
+f 7//1 9//1 10//1
+f 10//2 9//2 7//2
+f 7//1 10//1 11//1
+f 11//2 10//2 7//2
+f 7//1 11//1 12//1
+f 12//2 11//2 7//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-73.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-73.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..62965e04b4ab529157c4680f042879a782828ae3
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-73.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
+ vertex 0.280638009 0.686421752 0.470633984
+ vertex 0.280638009 0.686810255 0.474519014
+ vertex 0.27610901 0.686421752 0.470633984
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.280638009 0.686810255 0.470633984
+ vertex 0.280638009 0.686421752 0.470633984
+ vertex 0.27610901 0.686421752 0.470633984
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.280638009 0.686810255 0.470633984
+ vertex 0.27610901 0.686421752 0.470633984
+ vertex 0.280638009 0.686810255 0.474519014
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.280638009 0.686810255 0.470633984
+ vertex 0.280638009 0.686810255 0.474519014
+ vertex 0.280638009 0.686421752 0.470633984
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-76.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-76.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c9f88bfef0a4316fc511ec95f8b7369c8c83701c
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-76.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
+ vertex 0.414925992 0.686839938 0.477868974
+ vertex 0.414925992 0.687392116 0.483390987
+ vertex 0.405785024 0.686839938 0.477868974
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.414925992 0.687392116 0.477868974
+ vertex 0.414925992 0.686839938 0.477868974
+ vertex 0.405785024 0.686839938 0.477868974
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.414925992 0.687392116 0.477868974
+ vertex 0.405785024 0.686839938 0.477868974
+ vertex 0.414925992 0.687392116 0.483390987
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.414925992 0.687392116 0.477868974
+ vertex 0.414925992 0.687392116 0.483390987
+ vertex 0.414925992 0.686839938 0.477868974
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-79.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-79.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..900c93fec2a1b617da34bd7d3bfe55c1ecee2e03
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-79.obj.convex.stl
@@ -0,0 +1,114 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
+ vertex 0.002079 0.671389997 0.449726969
+ vertex 0.002079 0.657821 0.447723985
+ vertex 0.002079 0.66733098 0.443559974
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.002079 0.671389997 0.449726969
+ vertex 0.002079 0.66733098 0.443559974
+ vertex 0.002079 0.671536982 0.443559974
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.002079 0.671389997 0.449726969
+ vertex 0.002079 0.671536982 0.443559974
+ vertex 0.002079 0.671536982 0.448050976
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.0526209995 0.671389997 0.449726969
+ vertex 0.002079 0.671536982 0.448050976
+ vertex 0.002079 0.671536982 0.443559974
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.0526209995 0.671389997 0.449726969
+ vertex 0.002079 0.671536982 0.443559974
+ vertex -0.0526209995 0.671536982 0.443559974
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.002079 0.671389997 0.449726969
+ vertex -0.0526209995 0.671389997 0.449726969
+ vertex -0.0526209995 0.657821 0.447723985
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.002079 0.671389997 0.449726969
+ vertex -0.0526209995 0.657821 0.447723985
+ vertex 0.002079 0.657821 0.447723985
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.002079 0.671389997 0.449726969
+ vertex 0.002079 0.671536982 0.448050976
+ vertex -0.0526209995 0.671389997 0.449726969
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.0526209995 0.66733098 0.443559974
+ vertex -0.0526209995 0.671536982 0.443559974
+ vertex 0.002079 0.671536982 0.443559974
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.0526209995 0.66733098 0.443559974
+ vertex 0.002079 0.671536982 0.443559974
+ vertex 0.002079 0.66733098 0.443559974
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.0526209995 0.66733098 0.443559974
+ vertex 0.002079 0.66733098 0.443559974
+ vertex 0.002079 0.657821 0.447723985
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.0526209995 0.66733098 0.443559974
+ vertex 0.002079 0.657821 0.447723985
+ vertex -0.0526209995 0.657821 0.447723985
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.0526209995 0.66733098 0.443559974
+ vertex -0.0526209995 0.657821 0.447723985
+ vertex -0.0526209995 0.671389997 0.449726969
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.0526209995 0.66733098 0.443559974
+ vertex -0.0526209995 0.671389997 0.449726969
+ vertex -0.0526209995 0.671536982 0.443559974
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-8.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-81.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-81.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-82.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-82.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-83.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49da4dc9563c9318a9630d008db8851b4155a25e
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-83.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 83
+mtllib original-83.mtl
+o mesh83/mesh83-geometry#mesh83-geometry
+v -0.000012 0.686990 0.456698
+v -0.010104 0.686990 0.457713
+v -0.000016 0.686990 0.457713
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-84.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-84.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-84.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4411a1c106f520e1e8dfcc9f6085fc1d7204676
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-84.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 84
+mtllib original-84.mtl
+o mesh84/mesh84-geometry#mesh84-geometry
+v 0.276176 0.686616 0.480006
+v 0.276176 0.686616 0.478912
+v 0.276109 0.686616 0.479459
+v 0.276365 0.686616 0.480509
+v 0.276365 0.686616 0.478408
+v 0.276666 0.686616 0.480954
+v 0.280638 0.686616 0.477963
+v 0.277060 0.686616 0.481324
+v 0.277534 0.686616 0.481608
+v 0.278070 0.686616 0.481789
+v 0.278652 0.686616 0.481852
+v 0.279234 0.686616 0.481789
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//1 4//1 5//1
+f 5//2 4//2 2//2
+f 5//1 4//1 6//1
+f 6//2 4//2 5//2
+f 5//1 6//1 7//1
+f 7//2 6//2 5//2
+f 7//1 6//1 8//1
+f 8//2 6//2 7//2
+f 7//1 8//1 9//1
+f 9//2 8//2 7//2
+f 7//1 9//1 10//1
+f 10//2 9//2 7//2
+f 7//1 10//1 11//1
+f 11//2 10//2 7//2
+f 7//1 11//1 12//1
+f 12//2 11//2 7//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-85.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-85.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..bd79a9abcb3d2637847014b80d3782b6774b2af2
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-85.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
+ vertex 0.0298079997 0.688060164 0.479777008
+ vertex 0.020792 0.688060164 0.479777008
+ vertex 0.0298079997 0.68835187 0.482694
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.020792 0.688060164 0.482694
+ vertex 0.020792 0.688060164 0.479777008
+ vertex 0.0298079997 0.688060164 0.479777008
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.020792 0.688060164 0.482694
+ vertex 0.0298079997 0.68835187 0.482694
+ vertex 0.020792 0.688060164 0.479777008
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.020792 0.688060164 0.482694
+ vertex 0.0298079997 0.688060164 0.479777008
+ vertex 0.0298079997 0.68835187 0.482694
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-87.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-87.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..646c803ca128e6bd6e0deddc46e09b50e6994e71
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-87.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
+ vertex 0.0462419987 0.68815583 0.481339991
+ vertex 0.0462419987 0.688256204 0.482343972
+ vertex 0.0399000049 0.68815583 0.481339991
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.0462419987 0.688256204 0.481339991
+ vertex 0.0462419987 0.68815583 0.481339991
+ vertex 0.0399000049 0.68815583 0.481339991
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.0462419987 0.688256204 0.481339991
+ vertex 0.0399000049 0.68815583 0.481339991
+ vertex 0.0462419987 0.688256204 0.482343972
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.0462419987 0.688256204 0.481339991
+ vertex 0.0462419987 0.688256204 0.482343972
+ vertex 0.0462419987 0.68815583 0.481339991
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-88.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-88.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-88.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-88.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa389c7c01dbae938cfa22ce356cc014aedc714e
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-88.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 88
+mtllib original-88.mtl
+o mesh88/mesh88-geometry#mesh88-geometry
+v 0.051148 0.688206 0.477747
+v 0.048190 0.688206 0.478994
+v 0.046242 0.688206 0.481340
+v 0.052853 0.688206 0.475330
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-89.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53e55c15bf09d39752c1d0315631335815b521fc
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-89.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 89
+mtllib original-89.mtl
+o mesh89/mesh89-geometry#mesh89-geometry
+v 0.052853 0.688206 0.475330
+v 0.053938 0.688206 0.466777
+v 0.052811 0.688206 0.472390
+v 0.054315 0.688206 0.469698
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-90.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-90.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..e8a0b4265f5ecab5980340b73fa1855dc2c0d9f5
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-90.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
+ vertex 0.0489189997 0.687955081 0.466776997
+ vertex 0.0489189997 0.687955081 0.459614009
+ vertex 0.0539380014 0.688456953 0.459614009
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.0489189997 0.688456953 0.459614009
+ vertex 0.0489189997 0.687955081 0.459614009
+ vertex 0.0489189997 0.687955081 0.466776997
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.0489189997 0.688456953 0.459614009
+ vertex 0.0539380014 0.688456953 0.459614009
+ vertex 0.0489189997 0.687955081 0.459614009
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.0489189997 0.688456953 0.459614009
+ vertex 0.0489189997 0.687955081 0.466776997
+ vertex 0.0539380014 0.688456953 0.459614009
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-95.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7d31d6314e56a29cfee319bee263cfcd8283a45
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-95.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 95
+mtllib original-95.mtl
+o mesh95/mesh95-geometry#mesh95-geometry
+v 0.100188 0.688206 0.477747
+v 0.099526 0.688206 0.474893
+v 0.097402 0.688206 0.472618
+v 0.102421 0.688206 0.479777
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-95.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-95.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..162892d475738bb1c1933f768b73e57a3c9b7991
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-95.obj.convex.stl
@@ -0,0 +1,50 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
+ vertex 0.102421001 0.688456953 0.479777008
+ vertex 0.102421001 0.688456953 0.472618014
+ vertex 0.0974019915 0.687955081 0.472618014
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+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex 0.0974019915 0.687955081 0.472618014
+ vertex 0.0974019915 0.687955081 0.479777008
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+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex 0.0974019915 0.687955081 0.472618014
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.102421001 0.688456953 0.479777008
+ vertex 0.102421001 0.687955081 0.472618014
+ vertex 0.102421001 0.688456953 0.472618014
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-98.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a3902b8e8635d994ac56b79e67b688e0265900a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-98.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 98
+mtllib original-98.mtl
+o mesh98/mesh98-geometry#mesh98-geometry
+v 0.315941 0.687709 0.453852
+v 0.285556 0.687709 0.452293
+v 0.285556 0.687709 0.453852
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-98.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-98.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..38447ba8f0a0a5ae1070b27baa3dcfeae79c6e7b
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-98.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
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+ endfacet
+
+ facet normal 0 0 0
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+ endfacet
+
+ facet normal 0 0 0
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+ endfacet
+
+ facet normal 0 0 0
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+ vertex 0.315941006 0.687631011 0.452292979
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-99.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c33845708adfb3efd53149c12164f0e398b9ce
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-99.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 99
+mtllib original-99.mtl
+o mesh99/mesh99-geometry#mesh99-geometry
+v 0.255888 0.687709 0.453852
+v 0.225507 0.687709 0.452293
+v 0.225507 0.687709 0.453852
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diff --git a/Dishwasher/12583/partnet_mobility/tree_hier.html b/Dishwasher/12583/partnet_mobility/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..0d40f21bc6977d93f3449db737c1827abc4966be
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/tree_hier.html
@@ -0,0 +1,2 @@
+
Simple Viewer
+0 dishwasher Dish Washer
1 body Body
2 base Base
6 door Door
9 frame Frame
10 side_controls Side Controls
3 surface_base Surface Base
7 door_frame Door Frame
8 handle Handle
11 control_button Control Button
12 control_panel Control Panel
4 surface Surface
\ No newline at end of file
diff --git a/Dishwasher/12583/partnet_mobility/tree_hier_after_merging.html b/Dishwasher/12583/partnet_mobility/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..c9efeb50cfd3e6202e380a6906282d01d5dda4b7
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 dishwasher dishwasher
1 body body
6 base base
2 door door
5 frame frame
7 surface_base surface_base
3 door_frame door_frame
4 handle handle
8 surface surface
\ No newline at end of file
diff --git a/StorageFurniture/45575/hoi_trajectories/handle_2/trajectory.json b/StorageFurniture/45575/hoi_trajectories/handle_2/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d157dbee472e18b5f8bcd29d59aad3ba10be0e98
--- /dev/null
+++ b/StorageFurniture/45575/hoi_trajectories/handle_2/trajectory.json
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\ No newline at end of file
diff --git a/StorageFurniture/45575/hoi_trajectories/handle_3/trajectory.json b/StorageFurniture/45575/hoi_trajectories/handle_3/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..58b29726c2e24c0aa54db352cc69e1dd6efb0238
--- /dev/null
+++ b/StorageFurniture/45575/hoi_trajectories/handle_3/trajectory.json
@@ -0,0 +1,21054 @@
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\ No newline at end of file
diff --git a/StorageFurniture/45575/partnet_mobility/parts_render_after_merging/11.txt b/StorageFurniture/45575/partnet_mobility/parts_render_after_merging/11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60d5e64e25f51b5a41b82f029dc4c1f45de67786
--- /dev/null
+++ b/StorageFurniture/45575/partnet_mobility/parts_render_after_merging/11.txt
@@ -0,0 +1 @@
+11 drawer drawer
\ No newline at end of file
diff --git a/StorageFurniture/45575/partnet_mobility/parts_render_after_merging/18.txt b/StorageFurniture/45575/partnet_mobility/parts_render_after_merging/18.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f9bf52e965baff0832e1374969d1e3c5714e4199
--- /dev/null
+++ b/StorageFurniture/45575/partnet_mobility/parts_render_after_merging/18.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/StorageFurniture/45575/partnet_mobility/parts_render_after_merging/24.txt b/StorageFurniture/45575/partnet_mobility/parts_render_after_merging/24.txt
new file mode 100644
index 0000000000000000000000000000000000000000..24796783613c55bda9647c90d4ec0c519e09ca8b
--- /dev/null
+++ b/StorageFurniture/45575/partnet_mobility/parts_render_after_merging/24.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/StorageFurniture/45575/partnet_mobility/parts_render_after_merging/25.txt b/StorageFurniture/45575/partnet_mobility/parts_render_after_merging/25.txt
new file mode 100644
index 0000000000000000000000000000000000000000..00d3cb0323bb5cbde553a76d01e4be1ff0263a8f
--- /dev/null
+++ b/StorageFurniture/45575/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/45575/partnet_mobility/parts_render_after_merging/29.txt b/StorageFurniture/45575/partnet_mobility/parts_render_after_merging/29.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9314edc0ff81df1d8bd6e3ae2356d0cb274f7fa3
--- /dev/null
+++ b/StorageFurniture/45575/partnet_mobility/parts_render_after_merging/29.txt
@@ -0,0 +1 @@
+29 frame_horizontal_bar frame_horizontal_bar
\ No newline at end of file
diff --git a/StorageFurniture/45575/partnet_mobility/point_sample/label-10000.txt b/StorageFurniture/45575/partnet_mobility/point_sample/label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ce214b1bd2eac6dcef500adee3bec9e232478ac9
--- /dev/null
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diff --git a/StorageFurniture/45575/partnet_mobility/point_sample/pts-10000.pts b/StorageFurniture/45575/partnet_mobility/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..f39c687ac1b0f23ba3919f308d7447eae5c04976
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diff --git a/StorageFurniture/45575/partnet_mobility/point_sample/pts-10000.txt b/StorageFurniture/45575/partnet_mobility/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f9079ac9ef4c5a25ccc8f5de91bc2693549fd4a0
--- /dev/null
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diff --git a/StorageFurniture/45575/partnet_mobility/point_sample/sample-points-all-label-10000.txt b/StorageFurniture/45575/partnet_mobility/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..504dba9186179c167680c7d6513f3f55b549fd98
--- /dev/null
+++ b/StorageFurniture/45575/partnet_mobility/point_sample/sample-points-all-label-10000.txt
@@ -0,0 +1,10000 @@
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diff --git a/StorageFurniture/45575/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/StorageFurniture/45575/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..70496f596c793d2332f42bab943ea7943aceb696
--- /dev/null
+++ b/StorageFurniture/45575/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
@@ -0,0 +1,10000 @@
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\ No newline at end of file
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new file mode 100644
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diff --git a/StorageFurniture/45667/partnet_mobility/mobility_texture_gapartnet.urdf b/StorageFurniture/45667/partnet_mobility/mobility_texture_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4ced589d471f1e0b716ad0589faace1bb08fd274
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/mobility_texture_gapartnet.urdf
@@ -0,0 +1,368 @@
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diff --git a/StorageFurniture/45667/partnet_mobility/mobility_v2.json b/StorageFurniture/45667/partnet_mobility/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b899cd801a1e1c8ea4cc6602c9f174226b6f0c91
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"heavy","name":"cabinet_frame","parts":[{"id":8,"name":"back_panel","children":[]},{"id":9,"name":"bottom_panel","children":[]},{"id":10,"name":"top_panel","children":[]},{"id":11,"name":"vertical_front_panel","children":[]},{"id":12,"name":"frame_vertical_bar","children":[]},{"id":13,"name":"frame_vertical_bar","children":[]},{"id":14,"name":"frame_vertical_bar","children":[]},{"id":20,"name":"other_leaf","children":[]},{"id":21,"name":"vertical_side_panel","children":[]},{"id":22,"name":"vertical_side_panel","children":[]},{"id":23,"name":"vertical_divider_panel","children":[]},{"id":24,"name":"vertical_divider_panel","children":[]},{"id":25,"name":"vertical_divider_panel","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"hinge","name":"cabinet_door","parts":[{"id":4,"name":"cabinet_door_surface","children":[]},{"id":5,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0.7392951186180856,0.13523800671100616,0.24385029675984954],"direction":[0,1,0]},"limit":{"a":0,"b":112.68,"noLimit":false}}}]
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/0.txt b/StorageFurniture/45667/partnet_mobility/parts_render/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..000055119a8f586744ae4cc6685e399ee604f6b6
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/0.txt
@@ -0,0 +1 @@
+0 storage_furniture Storage Furniture
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/1.txt b/StorageFurniture/45667/partnet_mobility/parts_render/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2758ee5746b968caf0112b343185aee363f0d38e
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/1.txt
@@ -0,0 +1 @@
+1 cabinet Cabinet
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/10.txt b/StorageFurniture/45667/partnet_mobility/parts_render/10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6c730f3dbc9b554bad2d09faccc16b76a3e7036f
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/10.txt
@@ -0,0 +1 @@
+10 top_panel Top panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/11.txt b/StorageFurniture/45667/partnet_mobility/parts_render/11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a9f652d12b6bde573a4e2e4b92ff1b64b7255ee
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/11.txt
@@ -0,0 +1 @@
+11 vertical_front_panel Vertical front panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/12.txt b/StorageFurniture/45667/partnet_mobility/parts_render/12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c59374e49777ef6b93a85114dd2f3583b4e43061
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/12.txt
@@ -0,0 +1 @@
+12 frame_vertical_bar Vertical support bar
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/13.txt b/StorageFurniture/45667/partnet_mobility/parts_render/13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..93ba0fbd2171e7fd48bca1069a333e0538cf9488
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/13.txt
@@ -0,0 +1 @@
+13 frame_vertical_bar Vertical support bar
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/14.txt b/StorageFurniture/45667/partnet_mobility/parts_render/14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..81550e131c787134320863cab8b296dddc5e733e
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/14.txt
@@ -0,0 +1 @@
+14 frame_vertical_bar Vertical support bar
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/19.txt b/StorageFurniture/45667/partnet_mobility/parts_render/19.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4f77527b75a6ee5ef3e1a1713f9a6160c2f826db
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/19.txt
@@ -0,0 +1 @@
+19 other rectangle (other)
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/2.txt b/StorageFurniture/45667/partnet_mobility/parts_render/2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..36d4acf4574adb3e41641dc80a870c7d4176e32d
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/2.txt
@@ -0,0 +1 @@
+2 cabinet_frame Cabinet frame
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/20.txt b/StorageFurniture/45667/partnet_mobility/parts_render/20.txt
new file mode 100644
index 0000000000000000000000000000000000000000..51e78db6081a575947788ace38a3d744f4eaa417
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/20.txt
@@ -0,0 +1 @@
+20 other_leaf other_leaf
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/21.txt b/StorageFurniture/45667/partnet_mobility/parts_render/21.txt
new file mode 100644
index 0000000000000000000000000000000000000000..822cbb490eac712776a505ed7d135376ef105b41
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/21.txt
@@ -0,0 +1 @@
+21 vertical_side_panel Vertical side panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/22.txt b/StorageFurniture/45667/partnet_mobility/parts_render/22.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7ec4a04e9d2187baffbb89f6cc7c2210bf5ba449
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/22.txt
@@ -0,0 +1 @@
+22 vertical_side_panel Vertical side panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/23.txt b/StorageFurniture/45667/partnet_mobility/parts_render/23.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f8ba33e98fd25d5748dca0b7de831299bde759fb
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/23.txt
@@ -0,0 +1 @@
+23 vertical_divider_panel Vertical divider panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/24.txt b/StorageFurniture/45667/partnet_mobility/parts_render/24.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7dff09625f75f09da58bc820f9306fab05905831
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/24.txt
@@ -0,0 +1 @@
+24 vertical_divider_panel Vertical divider panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/25.txt b/StorageFurniture/45667/partnet_mobility/parts_render/25.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9c50ed7b37f0605f563f462be59da63b9654c7e5
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/25.txt
@@ -0,0 +1 @@
+25 vertical_divider_panel Vertical divider panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/3.txt b/StorageFurniture/45667/partnet_mobility/parts_render/3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..245dc420d8153adc87a0a0b00e3e8491e87decf8
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/3.txt
@@ -0,0 +1 @@
+3 cabinet_door Cabinet door
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/4.txt b/StorageFurniture/45667/partnet_mobility/parts_render/4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d1db8bd47f7feb45df5e3c03ec19ef59df2ffcc
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/4.txt
@@ -0,0 +1 @@
+4 cabinet_door_surface Cabinet door surface
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/5.txt b/StorageFurniture/45667/partnet_mobility/parts_render/5.txt
new file mode 100644
index 0000000000000000000000000000000000000000..86d60277bdaa98e6ea290c5db0947ef323ed95b0
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/5.txt
@@ -0,0 +1 @@
+5 handle Handle
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/8.txt b/StorageFurniture/45667/partnet_mobility/parts_render/8.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc684c8bbe58e4f0a925d2d31b4fefdf3f315e5b
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/8.txt
@@ -0,0 +1 @@
+8 back_panel Back panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render/9.txt b/StorageFurniture/45667/partnet_mobility/parts_render/9.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a65d3a185b35bd36398e514ac9f6fdb7f0d886c
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render/9.txt
@@ -0,0 +1 @@
+9 bottom_panel Bottom panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/0.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dedfd2e8af99066d66a3ab6aea175d037cdd934a
--- /dev/null
+++ b/StorageFurniture/45667/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/45667/partnet_mobility/parts_render_after_merging/1.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f23e159a2c882657d45cb8353e306417be5722e
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/1.txt
@@ -0,0 +1 @@
+1 cabinet cabinet
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/10.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c277582ec32cc128ff18bb99adca7d3f4bb7dc35
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/10.txt
@@ -0,0 +1 @@
+10 vertical_side_panel vertical_side_panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/11.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d7b165160bfc2d8a47896d8f58719c0ff5edb791
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/11.txt
@@ -0,0 +1 @@
+11 vertical_side_panel vertical_side_panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/12.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b245565a837bcc497c8fe5e43c319b70a9e9765
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/12.txt
@@ -0,0 +1 @@
+12 vertical_divider_panel vertical_divider_panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/13.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1d6238bf2786cbb17dcd812045a5d36ea2d3bb5c
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/13.txt
@@ -0,0 +1 @@
+13 vertical_divider_panel vertical_divider_panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/14.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3eb7261bb996c95d3383c67af7498b8c830d1fc7
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/14.txt
@@ -0,0 +1 @@
+14 vertical_divider_panel vertical_divider_panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/15.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1cb2326ceb4838c56a9a6e80af61cf4056a5018
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/15.txt
@@ -0,0 +1 @@
+15 cabinet_door cabinet_door
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/16.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/16.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a0069a19e56259be52c3e0ddadbda0b3f45069f9
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/16.txt
@@ -0,0 +1 @@
+16 cabinet_door_surface cabinet_door_surface
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/17.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/17.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6009f3d1bd035c893eb27ddb2a9fe09c2a73c59a
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/17.txt
@@ -0,0 +1 @@
+17 handle handle
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/2.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..59bb7064a8f22a706e76dff290bbd9555b423931
--- /dev/null
+++ b/StorageFurniture/45667/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/45667/partnet_mobility/parts_render_after_merging/3.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ac791beb4311b0036cc3d251ce4d0864e4f506a
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/3.txt
@@ -0,0 +1 @@
+3 back_panel back_panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/4.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f33ee20b78674ae5ddfb6ffba6cc1dfa72a457b
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/4.txt
@@ -0,0 +1 @@
+4 bottom_panel bottom_panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/5.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/5.txt
new file mode 100644
index 0000000000000000000000000000000000000000..06721c3f330a7a7d19ef89e85488d3a3a8c2a141
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/5.txt
@@ -0,0 +1 @@
+5 top_panel top_panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/6.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..788f7379e4ac2df56ff0ce902e6ac1b2fe50bd15
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/6.txt
@@ -0,0 +1 @@
+6 vertical_front_panel vertical_front_panel
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/7.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/7.txt
new file mode 100644
index 0000000000000000000000000000000000000000..47924123021fb1b7400a73099f1e36e832c59914
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/7.txt
@@ -0,0 +1 @@
+7 frame_vertical_bar frame_vertical_bar
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/8.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/8.txt
new file mode 100644
index 0000000000000000000000000000000000000000..124880573d004b16830cd2e8f16219b72781988e
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/8.txt
@@ -0,0 +1 @@
+8 frame_vertical_bar frame_vertical_bar
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/9.txt b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/9.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dfc60200f6614cee12d1355b8b3ad576c0eda0ab
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/parts_render_after_merging/9.txt
@@ -0,0 +1 @@
+9 frame_vertical_bar frame_vertical_bar
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/point_sample/label-10000.txt b/StorageFurniture/45667/partnet_mobility/point_sample/label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..634af65e5ffde4c1c10d94c6b5f7a221a948b70b
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/point_sample/label-10000.txt
@@ -0,0 +1,10000 @@
+11
+9
+10
+9
+4
+4
+10
+10
+8
+4
+14
+11
+9
+12
+4
+11
+4
+23
+25
+9
+8
+11
+9
+11
+11
+8
+24
+11
+23
+24
+22
+10
+21
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diff --git a/StorageFurniture/45667/partnet_mobility/point_sample/pts-10000.pts b/StorageFurniture/45667/partnet_mobility/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..ff74cf2746315a1901402e216f1fa2ba79032cac
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diff --git a/StorageFurniture/45667/partnet_mobility/point_sample/pts-10000.txt b/StorageFurniture/45667/partnet_mobility/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..47ddd5e03a5f3ce2dc0bbcb9fe0ab3cda4491835
--- /dev/null
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diff --git a/StorageFurniture/45667/partnet_mobility/point_sample/sample-points-all-label-10000.txt b/StorageFurniture/45667/partnet_mobility/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a776ac27e40bdef9a9c0b9cd89e5133dac4a3353
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/point_sample/sample-points-all-label-10000.txt
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diff --git a/StorageFurniture/45667/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/StorageFurniture/45667/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..79b0d002b17aff8837d841267a2eb539b206d9fa
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/StorageFurniture/45667/partnet_mobility/result.json b/StorageFurniture/45667/partnet_mobility/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccb515d51ea7d5706aa79b06227a10e58bdf55df
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/result.json
@@ -0,0 +1 @@
+[{"text": "Storage Furniture", "children": [{"text": "Cabinet", "children": [{"text": "Cabinet frame", "children": [{"text": "Back panel", "objs": ["original-7", "original-8"], "id": 8, "name": "back_panel"}, {"text": "Bottom panel", "objs": ["original-10"], "id": 9, "name": "bottom_panel"}, {"text": "Top panel", "objs": ["original-9"], "id": 10, "name": "top_panel"}, {"text": "Vertical front panel", "objs": ["original-12", "original-18", "original-5", "original-16", "original-11"], "id": 11, "name": "vertical_front_panel"}, {"text": "Vertical support bar", "objs": ["original-4"], "id": 12, "name": "frame_vertical_bar"}, {"text": "Vertical support bar", "objs": ["original-17"], "id": 13, "name": "frame_vertical_bar"}, {"text": "Vertical support bar", "objs": ["original-20"], "id": 14, "name": "frame_vertical_bar"}, {"text": "rectangle (other)", "children": [{"text": "other_leaf", "objs": ["original-35"], "id": 20, "name": "other_leaf"}], "id": 19, "name": "other"}, {"text": "Vertical side panel", "objs": ["original-14", "original-15"], "id": 21, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-2", "original-3"], "id": 22, "name": "vertical_side_panel"}, {"text": "Vertical divider panel", "objs": ["original-19"], "id": 23, "name": "vertical_divider_panel"}, {"text": "Vertical divider panel", "objs": ["original-21"], "id": 24, "name": "vertical_divider_panel"}, {"text": "Vertical divider panel", "objs": ["original-22"], "id": 25, "name": "vertical_divider_panel"}], "id": 2, "name": "cabinet_frame"}, {"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["original-30", "original-27", "original-26", "original-24", "original-25", "original-29"], "id": 4, "name": "cabinet_door_surface"}, {"text": "Handle", "objs": ["original-32", "original-34", "original-33"], "id": 5, "name": "handle"}], "id": 3, "name": "cabinet_door"}], "id": 1, "name": "cabinet"}], "id": 0, "name": "storage_furniture"}]
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/result_after_merging.json b/StorageFurniture/45667/partnet_mobility/result_after_merging.json
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--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["original-7", "original-8", "original-10", "original-9", "original-12", "original-18", "original-5", "original-16", "original-11", "original-4", "original-17", "original-20", "original-35", "original-14", "original-15", "original-2", "original-3", "original-19", "original-21", "original-22", "original-30", "original-27", "original-26", "original-24", "original-25", "original-29", "original-32", "original-34", "original-33"], "children": [{"objs": ["original-7", "original-8", "original-10", "original-9", "original-12", "original-18", "original-5", "original-16", "original-11", "original-4", "original-17", "original-20", "original-35", "original-14", "original-15", "original-2", "original-3", "original-19", "original-21", "original-22", "original-30", "original-27", "original-26", "original-24", "original-25", "original-29", "original-32", "original-34", "original-33"], "children": [{"objs": ["original-7", "original-8", "original-10", "original-9", "original-12", "original-18", "original-5", "original-16", "original-11", "original-4", "original-17", "original-20", "original-35", "original-14", "original-15", "original-2", "original-3", "original-19", "original-21", "original-22"], "children": [{"text": "back_panel", "id": 3, "ori_id": 8, "objs": ["original-7", "original-8"], "name": "back_panel"}, {"text": "bottom_panel", "id": 4, "ori_id": 9, "objs": ["original-10"], "name": "bottom_panel"}, {"text": "top_panel", "id": 5, "ori_id": 10, "objs": ["original-9"], "name": "top_panel"}, {"text": "vertical_front_panel", "id": 6, "ori_id": 11, "objs": ["original-12", "original-18", "original-5", "original-16", "original-11"], "name": "vertical_front_panel"}, {"text": "frame_vertical_bar", "id": 7, "ori_id": 12, "objs": ["original-4"], "name": "frame_vertical_bar"}, {"text": "frame_vertical_bar", "id": 8, "ori_id": 13, "objs": ["original-17"], "name": "frame_vertical_bar"}, {"text": "frame_vertical_bar", "id": 9, "ori_id": 14, "objs": ["original-20"], "name": "frame_vertical_bar"}, {"text": "vertical_side_panel", "id": 10, "ori_id": 21, "objs": ["original-14", "original-15"], "name": "vertical_side_panel"}, {"text": "vertical_side_panel", "id": 11, "ori_id": 22, "objs": ["original-2", "original-3"], "name": "vertical_side_panel"}, {"text": "vertical_divider_panel", "id": 12, "ori_id": 23, "objs": ["original-19"], "name": "vertical_divider_panel"}, {"text": "vertical_divider_panel", "id": 13, "ori_id": 24, "objs": ["original-21"], "name": "vertical_divider_panel"}, {"text": "vertical_divider_panel", "id": 14, "ori_id": 25, "objs": ["original-22"], "name": "vertical_divider_panel"}], "text": "cabinet_frame", "id": 2, "ori_id": 2, "name": "cabinet_frame"}, {"objs": ["original-30", "original-27", "original-26", "original-24", "original-25", "original-29", "original-32", "original-34", "original-33"], "children": [{"text": "cabinet_door_surface", "id": 16, "ori_id": 4, "objs": ["original-30", "original-27", "original-26", "original-24", "original-25", "original-29"], "name": "cabinet_door_surface"}, {"text": "handle", "id": 17, "ori_id": 5, "objs": ["original-32", "original-34", "original-33"], "name": "handle"}], "text": "cabinet_door", "id": 15, "ori_id": 3, "name": "cabinet_door"}], "text": "cabinet", "id": 1, "ori_id": 1, "name": "cabinet"}], "text": "storage_furniture", "id": 0, "ori_id": 0, "name": "storage_furniture"}]
\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/semantics.txt b/StorageFurniture/45667/partnet_mobility/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..46986e0bc62ea49c5f28b04bdf56847362b5ad06
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/semantics.txt
@@ -0,0 +1,2 @@
+link_0 heavy furniture_body
+link_1 hinge rotation_door
diff --git a/StorageFurniture/45667/partnet_mobility/semantics_gapartnet.txt b/StorageFurniture/45667/partnet_mobility/semantics_gapartnet.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0d4faeaead7c03fed0ad343f876cc3d04a3e152e
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/semantics_gapartnet.txt
@@ -0,0 +1,3 @@
+link_0 heavy furniture_body
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diff --git a/StorageFurniture/45667/partnet_mobility/tree_hier.html b/StorageFurniture/45667/partnet_mobility/tree_hier.html
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\ No newline at end of file
diff --git a/StorageFurniture/45667/partnet_mobility/tree_hier_after_merging.html b/StorageFurniture/45667/partnet_mobility/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..2f4a4d3730d2c2bc90118ba880f5a4f34d4643b2
--- /dev/null
+++ b/StorageFurniture/45667/partnet_mobility/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
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\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..257cc2185e2167ebf29879c6230a3c6077efe4bf
--- /dev/null
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@@ -0,0 +1,20869 @@
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\ No newline at end of file
diff --git a/StorageFurniture/46130/hoi_trajectories/handle_4/trajectory.json b/StorageFurniture/46130/hoi_trajectories/handle_4/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f53cd3adfa2cad453fa42ce2fc297c48be0eac4
--- /dev/null
+++ b/StorageFurniture/46130/hoi_trajectories/handle_4/trajectory.json
@@ -0,0 +1,21023 @@
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diff --git a/StorageFurniture/46130/hoi_trajectories/handle_5/trajectory.json b/StorageFurniture/46130/hoi_trajectories/handle_5/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e662a38bfb59bdd47b57da0f252ae9381d1944ec
--- /dev/null
+++ b/StorageFurniture/46130/hoi_trajectories/handle_5/trajectory.json
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diff --git a/StorageFurniture/46130/hoi_trajectories/handle_6/trajectory.json b/StorageFurniture/46130/hoi_trajectories/handle_6/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..b341dca71d61ed025970e399fdd039a7e7ef04b8
--- /dev/null
+++ b/StorageFurniture/46130/hoi_trajectories/handle_6/trajectory.json
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\ No newline at end of file
diff --git a/StorageFurniture/46130/hoi_trajectories/handle_7/trajectory.json b/StorageFurniture/46130/hoi_trajectories/handle_7/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0f632e25e338a30ad737eb093acd2c605c8bade
--- /dev/null
+++ b/StorageFurniture/46130/hoi_trajectories/handle_7/trajectory.json
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diff --git a/StorageFurniture/46130/hoi_trajectories/handle_8/trajectory.json b/StorageFurniture/46130/hoi_trajectories/handle_8/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..4033cb404bc41bc8758e20ce1163d4b921eecc8f
--- /dev/null
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diff --git a/StorageFurniture/46130/partnet_mobility/.DS_Store b/StorageFurniture/46130/partnet_mobility/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..d5bf74dc2b67442bdc900c99b15748e9fe53cf05
Binary files /dev/null and b/StorageFurniture/46130/partnet_mobility/.DS_Store differ
diff --git a/StorageFurniture/46130/partnet_mobility/bounding_box.json b/StorageFurniture/46130/partnet_mobility/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0440cf8c945f04858329f7ec181d7ae436423e2
--- /dev/null
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\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/link_annotation_gapartnet.json b/StorageFurniture/46130/partnet_mobility/link_annotation_gapartnet.json
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index 0000000000000000000000000000000000000000..96e6897db07444dd4a1e4bfeaa2c111c3e5d46e8
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\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/meta.json b/StorageFurniture/46130/partnet_mobility/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfadfe73565038e9d8f2dbafa2774b3043a71f68
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/meta.json
@@ -0,0 +1 @@
+{"model_id": "48b9fbf28fd33df5c59350d819542ec7", "anno_id": "46130", "user_id": "face++tanlei", "time_in_sec": "871", "version": "2", "model_cat": "StorageFurniture"}
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/mobility.urdf b/StorageFurniture/46130/partnet_mobility/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a721cd3134ea8700459f654da8d1be3296475d08
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/mobility.urdf
@@ -0,0 +1,818 @@
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diff --git a/StorageFurniture/46130/partnet_mobility/mobility_annotation_gapartnet.urdf b/StorageFurniture/46130/partnet_mobility/mobility_annotation_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6ef75e073d3c5bd83e01d3311d8a9c9751bcb4da
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/mobility_annotation_gapartnet.urdf
@@ -0,0 +1,860 @@
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diff --git a/StorageFurniture/46130/partnet_mobility/mobility_texture_gapartnet.urdf b/StorageFurniture/46130/partnet_mobility/mobility_texture_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..acf3854244b6f28216583effbead83b86ba09c8a
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/mobility_texture_gapartnet.urdf
@@ -0,0 +1,818 @@
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diff --git a/StorageFurniture/46130/partnet_mobility/mobility_v2.json b/StorageFurniture/46130/partnet_mobility/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..898ec6e6af85fa55b012f8a40a51f4b98cde11fe
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":56,"name":"drawer_front","children":[]},{"id":57,"name":"drawer_side","children":[]},{"id":58,"name":"drawer_side","children":[]},{"id":59,"name":"drawer_back","children":[]},{"id":60,"name":"drawer_bottom","children":[]},{"id":54,"name":"handle","children":[]},{"id":55,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.5,"noLimit":false}}},{"id":1,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":48,"name":"drawer_front","children":[]},{"id":49,"name":"drawer_side","children":[]},{"id":50,"name":"drawer_side","children":[]},{"id":51,"name":"drawer_back","children":[]},{"id":52,"name":"drawer_bottom","children":[]},{"id":46,"name":"handle","children":[]},{"id":47,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.5,"noLimit":false}}},{"id":2,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":40,"name":"drawer_front","children":[]},{"id":41,"name":"drawer_side","children":[]},{"id":42,"name":"drawer_side","children":[]},{"id":43,"name":"drawer_back","children":[]},{"id":44,"name":"drawer_bottom","children":[]},{"id":38,"name":"handle","children":[]},{"id":39,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.5,"noLimit":false}}},{"id":3,"parent":-1,"joint":"heavy","name":"cabinet_frame","parts":[{"id":24,"name":"vertical_side_panel","children":[]},{"id":25,"name":"vertical_side_panel","children":[]},{"id":26,"name":"back_panel","children":[]},{"id":27,"name":"bottom_panel","children":[]},{"id":28,"name":"frame_vertical_bar","children":[]},{"id":29,"name":"frame_vertical_bar","children":[]},{"id":30,"name":"frame_horizontal_bar","children":[]},{"id":31,"name":"frame_horizontal_bar","children":[]},{"id":32,"name":"frame_horizontal_bar","children":[]},{"id":33,"name":"frame_horizontal_bar","children":[]},{"id":34,"name":"frame_horizontal_bar","children":[]},{"id":35,"name":"frame_horizontal_bar","children":[]},{"id":36,"name":"frame_horizontal_bar","children":[]},{"id":8,"name":"base_side_panel","children":[]},{"id":9,"name":"base_side_panel","children":[]},{"id":10,"name":"base_side_panel","children":[]},{"id":11,"name":"base_side_panel","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/0.txt b/StorageFurniture/46130/partnet_mobility/parts_render/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..000055119a8f586744ae4cc6685e399ee604f6b6
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/0.txt
@@ -0,0 +1 @@
+0 storage_furniture Storage Furniture
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/1.txt b/StorageFurniture/46130/partnet_mobility/parts_render/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2758ee5746b968caf0112b343185aee363f0d38e
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/1.txt
@@ -0,0 +1 @@
+1 cabinet Cabinet
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/10.txt b/StorageFurniture/46130/partnet_mobility/parts_render/10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7567040fffe028eb8bde8415a690b894e5aab9c6
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/10.txt
@@ -0,0 +1 @@
+10 base_side_panel Base side panel
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/11.txt b/StorageFurniture/46130/partnet_mobility/parts_render/11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9d1291d5a9c5abc9d6c9ba3eb4925777b65da26b
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/11.txt
@@ -0,0 +1 @@
+11 base_side_panel Base side panel
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/2.txt b/StorageFurniture/46130/partnet_mobility/parts_render/2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..36d4acf4574adb3e41641dc80a870c7d4176e32d
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/2.txt
@@ -0,0 +1 @@
+2 cabinet_frame Cabinet frame
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/24.txt b/StorageFurniture/46130/partnet_mobility/parts_render/24.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4d339eaa4ce2791a95023725c52a1db10448423c
--- /dev/null
+++ b/StorageFurniture/46130/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/46130/partnet_mobility/parts_render/25.txt b/StorageFurniture/46130/partnet_mobility/parts_render/25.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1295e025936fcfca8d1ec4267e2239f11ff7b587
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/25.txt
@@ -0,0 +1 @@
+25 vertical_side_panel Vertical side panel
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/26.txt b/StorageFurniture/46130/partnet_mobility/parts_render/26.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d779a5aeae30d5166eb2c5114b9f947a71246934
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/26.txt
@@ -0,0 +1 @@
+26 back_panel Back panel
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/27.txt b/StorageFurniture/46130/partnet_mobility/parts_render/27.txt
new file mode 100644
index 0000000000000000000000000000000000000000..161b00de2cc928de9b44f83722864eed281296d8
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/27.txt
@@ -0,0 +1 @@
+27 bottom_panel Bottom panel
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/28.txt b/StorageFurniture/46130/partnet_mobility/parts_render/28.txt
new file mode 100644
index 0000000000000000000000000000000000000000..13901cba6fd0174f1ef1a4eff13a5fc328cbdf8d
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/28.txt
@@ -0,0 +1 @@
+28 frame_vertical_bar Vertical support bar
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/29.txt b/StorageFurniture/46130/partnet_mobility/parts_render/29.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3a26bd08990c72aabae683ecf7f4928ea29673d2
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/29.txt
@@ -0,0 +1 @@
+29 frame_vertical_bar Vertical support bar
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/3.txt b/StorageFurniture/46130/partnet_mobility/parts_render/3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c7788a1d00aa316aaf1af34989e786efcc9e41a1
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/3.txt
@@ -0,0 +1 @@
+3 cabinet_base Cabinet Base
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/30.txt b/StorageFurniture/46130/partnet_mobility/parts_render/30.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5999b5609c5fa1f7fe73a01199acc7da3ffade98
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/30.txt
@@ -0,0 +1 @@
+30 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/31.txt b/StorageFurniture/46130/partnet_mobility/parts_render/31.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc27733b57f9e4a69fce02d29617c112bcc822d6
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/31.txt
@@ -0,0 +1 @@
+31 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/32.txt b/StorageFurniture/46130/partnet_mobility/parts_render/32.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f7ae9fa61e25dfc5775319af82998dcdc13647df
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/32.txt
@@ -0,0 +1 @@
+32 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/33.txt b/StorageFurniture/46130/partnet_mobility/parts_render/33.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e41b80d6dfeca339758af36c0c6080f6f4644645
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/33.txt
@@ -0,0 +1 @@
+33 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/34.txt b/StorageFurniture/46130/partnet_mobility/parts_render/34.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f2a39236d987ae9691f6f32ab83b135b68814b7
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/34.txt
@@ -0,0 +1 @@
+34 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/35.txt b/StorageFurniture/46130/partnet_mobility/parts_render/35.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ce2319873149fb7c09a3ca9b20bf2fa3d867e6de
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/35.txt
@@ -0,0 +1 @@
+35 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/36.txt b/StorageFurniture/46130/partnet_mobility/parts_render/36.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bd5dfb744527ab215c4f6a0e38bf6a8608205293
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/36.txt
@@ -0,0 +1 @@
+36 frame_horizontal_bar Horizontal support bar
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/37.txt b/StorageFurniture/46130/partnet_mobility/parts_render/37.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bb38558b2e1c5066a9f4a2cd67c0e4854802547a
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/37.txt
@@ -0,0 +1 @@
+37 drawer_box Drawer box
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/38.txt b/StorageFurniture/46130/partnet_mobility/parts_render/38.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a5c8739a26776c9abd004f52b2e246fb712ed6ab
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/38.txt
@@ -0,0 +1 @@
+38 handle Handle
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/39.txt b/StorageFurniture/46130/partnet_mobility/parts_render/39.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3f694b38ee53ea957cf4afe7abe9a66ec0392643
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/39.txt
@@ -0,0 +1 @@
+39 handle Handle
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/4.txt b/StorageFurniture/46130/partnet_mobility/parts_render/4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..925a0b1d7affdda6d15deaf1b069077e26dd1339
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/4.txt
@@ -0,0 +1 @@
+4 drawer Drawer
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/40.txt b/StorageFurniture/46130/partnet_mobility/parts_render/40.txt
new file mode 100644
index 0000000000000000000000000000000000000000..404a06881b41f05f516e1f3eed8f3638b3b55fd7
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/40.txt
@@ -0,0 +1 @@
+40 drawer_front Drawer front
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/41.txt b/StorageFurniture/46130/partnet_mobility/parts_render/41.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bef939184df3d458187bf28d6cb724563a3bb923
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/41.txt
@@ -0,0 +1 @@
+41 drawer_side Drawer side
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/42.txt b/StorageFurniture/46130/partnet_mobility/parts_render/42.txt
new file mode 100644
index 0000000000000000000000000000000000000000..93c2b002eac810c779d45d4b23641ce51c6a1c03
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/42.txt
@@ -0,0 +1 @@
+42 drawer_side Drawer side
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/43.txt b/StorageFurniture/46130/partnet_mobility/parts_render/43.txt
new file mode 100644
index 0000000000000000000000000000000000000000..566b513560a43445eb796b350a62f70415b57c7d
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/43.txt
@@ -0,0 +1 @@
+43 drawer_back Drawer back
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/44.txt b/StorageFurniture/46130/partnet_mobility/parts_render/44.txt
new file mode 100644
index 0000000000000000000000000000000000000000..017f649b6319d807116b3cee314cd22b316c44c9
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/44.txt
@@ -0,0 +1 @@
+44 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/45.txt b/StorageFurniture/46130/partnet_mobility/parts_render/45.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b555ac1285961eaea442caddeea3dfcd5a90675a
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/45.txt
@@ -0,0 +1 @@
+45 drawer_box Drawer box
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/46.txt b/StorageFurniture/46130/partnet_mobility/parts_render/46.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c7e50b4611c97b7648647a9a7031a10c4d415762
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/46.txt
@@ -0,0 +1 @@
+46 handle Handle
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/47.txt b/StorageFurniture/46130/partnet_mobility/parts_render/47.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ff704d5a6f11fb5e40a664eca8c25539f3e6a81
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/47.txt
@@ -0,0 +1 @@
+47 handle Handle
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/48.txt b/StorageFurniture/46130/partnet_mobility/parts_render/48.txt
new file mode 100644
index 0000000000000000000000000000000000000000..58bf2d1ee6e2cddf58fbfc2a0d343dc0291e8849
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/48.txt
@@ -0,0 +1 @@
+48 drawer_front Drawer front
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/49.txt b/StorageFurniture/46130/partnet_mobility/parts_render/49.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2bf924c23b8f40fddf456f8824c7f60f12baa060
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/49.txt
@@ -0,0 +1 @@
+49 drawer_side Drawer side
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/5.txt b/StorageFurniture/46130/partnet_mobility/parts_render/5.txt
new file mode 100644
index 0000000000000000000000000000000000000000..14c02ef282694cc521952f92ec7f7f2ff1e7d159
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/5.txt
@@ -0,0 +1 @@
+5 drawer Drawer
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/50.txt b/StorageFurniture/46130/partnet_mobility/parts_render/50.txt
new file mode 100644
index 0000000000000000000000000000000000000000..39f13aee9156df94b1cdaecb794f80234cefcf21
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/50.txt
@@ -0,0 +1 @@
+50 drawer_side Drawer side
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/51.txt b/StorageFurniture/46130/partnet_mobility/parts_render/51.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b47df87dc89d1451ddbc7e5c465ec036b3401fec
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/51.txt
@@ -0,0 +1 @@
+51 drawer_back Drawer back
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/52.txt b/StorageFurniture/46130/partnet_mobility/parts_render/52.txt
new file mode 100644
index 0000000000000000000000000000000000000000..166ba9c48e2d9cd83b0fa2ceecb240671cf74100
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/52.txt
@@ -0,0 +1 @@
+52 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/53.txt b/StorageFurniture/46130/partnet_mobility/parts_render/53.txt
new file mode 100644
index 0000000000000000000000000000000000000000..27df76f1cb377844f86c6f7af282e35a88e49a08
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/53.txt
@@ -0,0 +1 @@
+53 drawer_box Drawer box
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/54.txt b/StorageFurniture/46130/partnet_mobility/parts_render/54.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6252ea517f7cf1a95dcc92f151689ced3e8d4c2f
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/54.txt
@@ -0,0 +1 @@
+54 handle Handle
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/55.txt b/StorageFurniture/46130/partnet_mobility/parts_render/55.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9fda0bc0625ec963ed5af6d44ed0fb7b1fc0cc87
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/55.txt
@@ -0,0 +1 @@
+55 handle Handle
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/56.txt b/StorageFurniture/46130/partnet_mobility/parts_render/56.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5e99ba05d9c7cf581c70ee3f915a88499a3ac9b6
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/56.txt
@@ -0,0 +1 @@
+56 drawer_front Drawer front
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/57.txt b/StorageFurniture/46130/partnet_mobility/parts_render/57.txt
new file mode 100644
index 0000000000000000000000000000000000000000..066a7b4eea5dba5fc6b8eea23c640052f6e0818b
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/57.txt
@@ -0,0 +1 @@
+57 drawer_side Drawer side
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/58.txt b/StorageFurniture/46130/partnet_mobility/parts_render/58.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4eb59c9bd4c614e0f8e9654fefeb6954ff857949
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/58.txt
@@ -0,0 +1 @@
+58 drawer_side Drawer side
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/59.txt b/StorageFurniture/46130/partnet_mobility/parts_render/59.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b5aefa4c3f0456c205da37a8f2805ba8213e86e3
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/59.txt
@@ -0,0 +1 @@
+59 drawer_back Drawer back
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/6.txt b/StorageFurniture/46130/partnet_mobility/parts_render/6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3104690ac0119fc813221738751239f77194afe7
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/6.txt
@@ -0,0 +1 @@
+6 drawer Drawer
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/60.txt b/StorageFurniture/46130/partnet_mobility/parts_render/60.txt
new file mode 100644
index 0000000000000000000000000000000000000000..492a39ef5bc0dfbeeb3d47ad681880138cb9a952
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/60.txt
@@ -0,0 +1 @@
+60 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/7.txt b/StorageFurniture/46130/partnet_mobility/parts_render/7.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a308d301251a865e3577e60d70ea5f71a2f9d65e
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/7.txt
@@ -0,0 +1 @@
+7 panel_base Panel Base
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/8.txt b/StorageFurniture/46130/partnet_mobility/parts_render/8.txt
new file mode 100644
index 0000000000000000000000000000000000000000..de5bb667d63eb7538c56c0952fe99c57ce0cdcfd
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/8.txt
@@ -0,0 +1 @@
+8 base_side_panel Base side panel
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render/9.txt b/StorageFurniture/46130/partnet_mobility/parts_render/9.txt
new file mode 100644
index 0000000000000000000000000000000000000000..67f7dda18ca89e1192cc850de7b4736f9e877838
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render/9.txt
@@ -0,0 +1 @@
+9 base_side_panel Base side panel
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/0.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dedfd2e8af99066d66a3ab6aea175d037cdd934a
--- /dev/null
+++ b/StorageFurniture/46130/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/46130/partnet_mobility/parts_render_after_merging/1.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f23e159a2c882657d45cb8353e306417be5722e
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/1.txt
@@ -0,0 +1 @@
+1 cabinet cabinet
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/10.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cce8336a1d2d2b059f12c8c2a887779e6460f95a
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/10.txt
@@ -0,0 +1 @@
+10 frame_horizontal_bar frame_horizontal_bar
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/11.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6971b36080be4616782086aa2bea4413b8698efa
--- /dev/null
+++ b/StorageFurniture/46130/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/46130/partnet_mobility/parts_render_after_merging/12.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..06f10b2caba0abe36056adbabe54c690b6667d0f
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/12.txt
@@ -0,0 +1 @@
+12 frame_horizontal_bar frame_horizontal_bar
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/13.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..93330b7f5059a022fef27ad55d73fb6a526decd7
--- /dev/null
+++ b/StorageFurniture/46130/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/46130/partnet_mobility/parts_render_after_merging/14.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..123c4487950ffbfba998c5c35e02d4904ada2572
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/14.txt
@@ -0,0 +1 @@
+14 frame_horizontal_bar frame_horizontal_bar
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/15.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1c407fe34664b4a76a37caec76714b7d6b00f1d0
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/15.txt
@@ -0,0 +1 @@
+15 frame_horizontal_bar frame_horizontal_bar
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/16.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/16.txt
new file mode 100644
index 0000000000000000000000000000000000000000..30e9b50ea75e7d057e43238996363ebd45b5f3b6
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/16.txt
@@ -0,0 +1 @@
+16 cabinet_base cabinet_base
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/17.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/17.txt
new file mode 100644
index 0000000000000000000000000000000000000000..99bdc6dc1f06f801b2b53493ddc2d2b6e9344ac6
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/17.txt
@@ -0,0 +1 @@
+17 panel_base panel_base
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/18.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/18.txt
new file mode 100644
index 0000000000000000000000000000000000000000..92ead795850b8b167dbb00587d18600e764253e2
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/18.txt
@@ -0,0 +1 @@
+18 base_side_panel base_side_panel
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/19.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/19.txt
new file mode 100644
index 0000000000000000000000000000000000000000..897e8b8a0e358356b1b48d735970cd45d69aff50
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/19.txt
@@ -0,0 +1 @@
+19 base_side_panel base_side_panel
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/2.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..59bb7064a8f22a706e76dff290bbd9555b423931
--- /dev/null
+++ b/StorageFurniture/46130/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/46130/partnet_mobility/parts_render_after_merging/20.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/20.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ccd19f67591d336527120c342abe5978e83330db
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/20.txt
@@ -0,0 +1 @@
+20 base_side_panel base_side_panel
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/21.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/21.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f9529097780537603c9f10ad511fc33a90188cf
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/21.txt
@@ -0,0 +1 @@
+21 base_side_panel base_side_panel
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/22.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/22.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9cb26f373ea0d3d2241821bef46e4b0af0c4c899
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/22.txt
@@ -0,0 +1 @@
+22 drawer drawer
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/23.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/23.txt
new file mode 100644
index 0000000000000000000000000000000000000000..241ee924e7bba10437467c912248ee2fa1632a52
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/23.txt
@@ -0,0 +1 @@
+23 drawer_box drawer_box
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/24.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/24.txt
new file mode 100644
index 0000000000000000000000000000000000000000..267d8cb4bd85f181c0cea3d7ebdca62a85a02370
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/24.txt
@@ -0,0 +1 @@
+24 drawer_front drawer_front
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/25.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/25.txt
new file mode 100644
index 0000000000000000000000000000000000000000..595f431deead1e812667d74cb86451cbb3f9be6c
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/25.txt
@@ -0,0 +1 @@
+25 drawer_side drawer_side
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/26.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/26.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f739bb5157e21e5c3b529429b9dbff087b40668e
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/26.txt
@@ -0,0 +1 @@
+26 drawer_side drawer_side
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/27.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/27.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e183daf8d267ceaff54c00ef8174e8239c3cd1bc
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/27.txt
@@ -0,0 +1 @@
+27 drawer_back drawer_back
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/28.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/28.txt
new file mode 100644
index 0000000000000000000000000000000000000000..81f2371b76f9c722636adc71291884e78910f6b1
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/28.txt
@@ -0,0 +1 @@
+28 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/29.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/29.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b4654c6505d4b32b1b8db5f35444e0a72824e814
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/29.txt
@@ -0,0 +1 @@
+29 handle handle
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/3.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba51b73c1a6acf97681f8dec0931e6c607a8aace
--- /dev/null
+++ b/StorageFurniture/46130/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/46130/partnet_mobility/parts_render_after_merging/30.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/30.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8dcd507af5a4a2fb90aa5fc3e0bdbd8ae821f01d
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/30.txt
@@ -0,0 +1 @@
+30 handle handle
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/31.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/31.txt
new file mode 100644
index 0000000000000000000000000000000000000000..121af489f581579117fb6567fbcf17cc8cba3b65
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/31.txt
@@ -0,0 +1 @@
+31 drawer drawer
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/32.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/32.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fd903b63af0e21e17014bfc8be4d8100e809f37b
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/32.txt
@@ -0,0 +1 @@
+32 drawer_box drawer_box
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/33.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/33.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b115b4262097e68ef03a1a503311c9d451caae5c
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/33.txt
@@ -0,0 +1 @@
+33 drawer_front drawer_front
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/34.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/34.txt
new file mode 100644
index 0000000000000000000000000000000000000000..84abde295a9680dfb4905a370a58f6935670854a
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/34.txt
@@ -0,0 +1 @@
+34 drawer_side drawer_side
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/35.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/35.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8fcff0e4745e2a193910c0f9a690ef5723cb0dfa
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/35.txt
@@ -0,0 +1 @@
+35 drawer_side drawer_side
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/36.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/36.txt
new file mode 100644
index 0000000000000000000000000000000000000000..186032a24297d784750bd597a1ed7c87c58afde8
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/36.txt
@@ -0,0 +1 @@
+36 drawer_back drawer_back
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/37.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/37.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7cd9c94ed9d7f060c8a701350fcd05820c666b59
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/37.txt
@@ -0,0 +1 @@
+37 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/38.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/38.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e3cf0e066e89197ae12116117ee401446edb712c
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/38.txt
@@ -0,0 +1 @@
+38 handle handle
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/39.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/39.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8a68fdc6b4797cbeb5f4acc146e602b20c1a4efc
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/39.txt
@@ -0,0 +1 @@
+39 handle handle
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/4.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..45d6ba309d10ce1b2da74232582efd84eaacb72d
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/4.txt
@@ -0,0 +1 @@
+4 vertical_side_panel vertical_side_panel
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/40.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/40.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8c0844752476d8ba04d110f8017175522257aa6a
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/40.txt
@@ -0,0 +1 @@
+40 drawer drawer
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/41.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/41.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c7357021c48fdd703840d8adad5ce161eeda0a74
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/41.txt
@@ -0,0 +1 @@
+41 drawer_box drawer_box
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/42.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/42.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b2b8da7c2d3ee68e44a5b1be2dab95a4f048d60
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/42.txt
@@ -0,0 +1 @@
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diff --git a/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/43.txt b/StorageFurniture/46130/partnet_mobility/parts_render_after_merging/43.txt
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new file mode 100644
index 0000000000000000000000000000000000000000..4cf18541d7c2417257899a9f94af350278d3786b
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diff --git a/StorageFurniture/46130/partnet_mobility/point_sample/pts-10000.txt b/StorageFurniture/46130/partnet_mobility/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..82d75d9b0db5344b88bd2109fc6adee2eeff99b7
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/point_sample/pts-10000.txt
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diff --git a/StorageFurniture/46130/partnet_mobility/point_sample/sample-points-all-label-10000.txt b/StorageFurniture/46130/partnet_mobility/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bd62650984066a86b5e45dc824874e8f99efa7ab
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/point_sample/sample-points-all-label-10000.txt
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diff --git a/StorageFurniture/46130/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/StorageFurniture/46130/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ca6bf7c8fd07d2a1c493700249a7c5c290897b1f
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/StorageFurniture/46130/partnet_mobility/result.json b/StorageFurniture/46130/partnet_mobility/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..50f40f728e4a3730016bda0abcdea24eca2a07b7
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/result.json
@@ -0,0 +1 @@
+[{"text": "Storage Furniture", "children": [{"text": "Cabinet", "children": [{"text": "Cabinet frame", "children": [{"text": "Vertical side panel", "objs": ["original-11", "original-10"], "id": 24, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-15", "original-14"], "id": 25, "name": "vertical_side_panel"}, {"text": "Back panel", "objs": ["original-83", "original-5"], "id": 26, "name": "back_panel"}, {"text": "Bottom panel", "objs": ["original-2"], "id": 27, "name": "bottom_panel"}, {"text": "Vertical support bar", "objs": ["original-7"], "id": 28, "name": "frame_vertical_bar"}, {"text": "Vertical support bar", "objs": ["original-3"], "id": 29, "name": "frame_vertical_bar"}, {"text": "Horizontal support bar", "objs": ["original-22"], "id": 30, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-17"], "id": 31, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-8"], "id": 32, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-6"], "id": 33, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-4"], "id": 34, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-20"], "id": 35, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-21"], "id": 36, "name": "frame_horizontal_bar"}], "id": 2, "name": "cabinet_frame"}, {"text": "Cabinet Base", "children": [{"text": "Panel Base", "children": [{"text": "Base side panel", "objs": ["original-18"], "id": 8, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-12"], "id": 9, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-19"], "id": 10, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-16"], "id": 11, "name": "base_side_panel"}], "id": 7, "name": "panel_base"}], "id": 3, "name": "cabinet_base"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-34", "original-40", "original-36", "original-37", "original-35", "original-39", "original-26"], "id": 56, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-25"], "id": 57, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-30", "original-32"], "id": 58, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-31"], "id": 59, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-29", "original-28"], "id": 60, "name": "drawer_bottom"}], "id": 53, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-42"], "id": 54, "name": "handle"}, {"text": "Handle", "objs": ["original-41"], "id": 55, "name": "handle"}], "id": 4, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-57", "original-54", "original-56", "original-55", "original-46", "original-59", "original-60"], "id": 48, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-45"], "id": 49, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-50", "original-52"], "id": 50, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-51"], "id": 51, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-49", "original-48"], "id": 52, "name": "drawer_bottom"}], "id": 45, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-62"], "id": 46, "name": "handle"}, {"text": "Handle", "objs": ["original-61"], "id": 47, "name": "handle"}], "id": 5, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-77", "original-76", "original-80", "original-75", "original-66", "original-74", "original-79"], "id": 40, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-65"], "id": 41, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-70", "original-72"], "id": 42, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-71"], "id": 43, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-69", "original-68"], "id": 44, "name": "drawer_bottom"}], "id": 37, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-82"], "id": 38, "name": "handle"}, {"text": "Handle", "objs": ["original-81"], "id": 39, "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/46130/partnet_mobility/result_after_merging.json b/StorageFurniture/46130/partnet_mobility/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..8db9436dba46e1987f6174607ead7768880facd8
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "storage_furniture", "ori_id": 0, "id": 0, "objs": ["original-11", "original-10", "original-15", "original-14", "original-83", "original-5", "original-2", "original-7", "original-3", "original-22", "original-17", "original-8", "original-6", "original-4", "original-20", "original-21", "original-18", "original-12", "original-19", "original-16", "original-34", "original-40", "original-36", "original-37", "original-35", "original-39", "original-26", "original-25", "original-30", "original-32", "original-31", "original-29", "original-28", "original-42", "original-41", "original-57", "original-54", "original-56", "original-55", "original-46", "original-59", "original-60", "original-45", "original-50", "original-52", "original-51", "original-49", "original-48", "original-62", "original-61", "original-77", "original-76", "original-80", "original-75", "original-66", "original-74", "original-79", "original-65", "original-70", "original-72", "original-71", "original-69", "original-68", "original-82", "original-81"], "children": [{"text": "cabinet", "ori_id": 1, "id": 1, "objs": ["original-11", "original-10", "original-15", "original-14", "original-83", "original-5", "original-2", "original-7", "original-3", "original-22", "original-17", "original-8", "original-6", "original-4", "original-20", "original-21", "original-18", "original-12", "original-19", "original-16", "original-34", "original-40", "original-36", "original-37", "original-35", "original-39", "original-26", "original-25", "original-30", "original-32", "original-31", "original-29", "original-28", "original-42", "original-41", "original-57", "original-54", "original-56", "original-55", "original-46", "original-59", "original-60", "original-45", "original-50", "original-52", "original-51", "original-49", "original-48", "original-62", "original-61", "original-77", "original-76", "original-80", "original-75", "original-66", "original-74", "original-79", "original-65", "original-70", "original-72", "original-71", "original-69", "original-68", "original-82", "original-81"], "children": [{"text": "cabinet_frame", "ori_id": 2, "id": 2, "objs": ["original-11", "original-10", "original-15", "original-14", "original-83", "original-5", "original-2", "original-7", "original-3", "original-22", "original-17", "original-8", "original-6", "original-4", "original-20", "original-21"], "children": [{"objs": ["original-11", "original-10"], "ori_id": 24, "text": "vertical_side_panel", "name": "vertical_side_panel", "id": 3}, {"objs": ["original-15", "original-14"], "ori_id": 25, "text": "vertical_side_panel", "name": "vertical_side_panel", "id": 4}, {"objs": ["original-83", "original-5"], "ori_id": 26, "text": "back_panel", "name": "back_panel", "id": 5}, {"objs": ["original-2"], "ori_id": 27, "text": "bottom_panel", "name": "bottom_panel", "id": 6}, {"objs": ["original-7"], "ori_id": 28, "text": "frame_vertical_bar", "name": "frame_vertical_bar", "id": 7}, {"objs": ["original-3"], "ori_id": 29, "text": "frame_vertical_bar", "name": "frame_vertical_bar", "id": 8}, {"objs": ["original-22"], "ori_id": 30, "text": "frame_horizontal_bar", "name": "frame_horizontal_bar", "id": 9}, {"objs": ["original-17"], "ori_id": 31, "text": "frame_horizontal_bar", "name": "frame_horizontal_bar", "id": 10}, {"objs": ["original-8"], "ori_id": 32, "text": "frame_horizontal_bar", "name": "frame_horizontal_bar", "id": 11}, {"objs": ["original-6"], "ori_id": 33, "text": "frame_horizontal_bar", "name": "frame_horizontal_bar", "id": 12}, {"objs": ["original-4"], "ori_id": 34, "text": "frame_horizontal_bar", "name": "frame_horizontal_bar", "id": 13}, {"objs": ["original-20"], "ori_id": 35, "text": "frame_horizontal_bar", "name": "frame_horizontal_bar", "id": 14}, {"objs": ["original-21"], "ori_id": 36, "text": "frame_horizontal_bar", "name": "frame_horizontal_bar", "id": 15}], "name": "cabinet_frame"}, {"text": "cabinet_base", "ori_id": 3, "id": 16, "objs": ["original-18", "original-12", "original-19", "original-16"], "children": [{"text": "panel_base", "ori_id": 7, "id": 17, "objs": ["original-18", "original-12", "original-19", "original-16"], "children": [{"objs": ["original-18"], "ori_id": 8, "text": "base_side_panel", "name": "base_side_panel", "id": 18}, {"objs": ["original-12"], "ori_id": 9, "text": "base_side_panel", "name": "base_side_panel", "id": 19}, {"objs": ["original-19"], "ori_id": 10, "text": "base_side_panel", "name": "base_side_panel", "id": 20}, {"objs": ["original-16"], "ori_id": 11, "text": "base_side_panel", "name": "base_side_panel", "id": 21}], "name": "panel_base"}], "name": "cabinet_base"}, {"text": "drawer", "ori_id": 4, "id": 22, "objs": ["original-34", "original-40", "original-36", "original-37", "original-35", "original-39", "original-26", "original-25", "original-30", "original-32", "original-31", "original-29", "original-28", "original-42", "original-41"], "children": [{"text": "drawer_box", "ori_id": 53, "id": 23, "objs": ["original-34", "original-40", "original-36", "original-37", "original-35", "original-39", "original-26", "original-25", "original-30", "original-32", "original-31", "original-29", "original-28"], "children": [{"objs": ["original-34", "original-40", "original-36", "original-37", "original-35", "original-39", "original-26"], "ori_id": 56, "text": "drawer_front", "name": "drawer_front", "id": 24}, {"objs": ["original-25"], "ori_id": 57, "text": "drawer_side", "name": "drawer_side", "id": 25}, {"objs": ["original-30", "original-32"], "ori_id": 58, "text": "drawer_side", "name": "drawer_side", "id": 26}, {"objs": ["original-31"], "ori_id": 59, "text": "drawer_back", "name": "drawer_back", "id": 27}, {"objs": ["original-29", "original-28"], "ori_id": 60, "text": "drawer_bottom", "name": "drawer_bottom", "id": 28}], "name": "drawer_box"}, {"objs": ["original-42"], "ori_id": 54, "text": "handle", "name": "handle", "id": 29}, {"objs": ["original-41"], "ori_id": 55, "text": "handle", "name": "handle", "id": 30}], "name": "drawer"}, {"text": "drawer", "ori_id": 5, "id": 31, "objs": ["original-57", "original-54", "original-56", "original-55", "original-46", "original-59", "original-60", "original-45", "original-50", "original-52", "original-51", "original-49", "original-48", "original-62", "original-61"], "children": [{"text": "drawer_box", "ori_id": 45, "id": 32, "objs": ["original-57", "original-54", "original-56", "original-55", "original-46", "original-59", "original-60", "original-45", "original-50", "original-52", "original-51", "original-49", "original-48"], "children": [{"objs": ["original-57", "original-54", "original-56", "original-55", "original-46", "original-59", "original-60"], "ori_id": 48, "text": "drawer_front", "name": "drawer_front", "id": 33}, {"objs": ["original-45"], "ori_id": 49, "text": "drawer_side", "name": "drawer_side", "id": 34}, {"objs": ["original-50", "original-52"], "ori_id": 50, "text": "drawer_side", "name": "drawer_side", "id": 35}, {"objs": ["original-51"], "ori_id": 51, "text": "drawer_back", "name": "drawer_back", "id": 36}, {"objs": ["original-49", "original-48"], "ori_id": 52, "text": "drawer_bottom", "name": "drawer_bottom", "id": 37}], "name": "drawer_box"}, {"objs": ["original-62"], "ori_id": 46, "text": "handle", "name": "handle", "id": 38}, {"objs": ["original-61"], "ori_id": 47, "text": "handle", "name": "handle", "id": 39}], "name": "drawer"}, {"text": "drawer", "ori_id": 6, "id": 40, "objs": ["original-77", "original-76", "original-80", "original-75", "original-66", "original-74", "original-79", "original-65", "original-70", "original-72", "original-71", "original-69", "original-68", "original-82", "original-81"], "children": [{"text": "drawer_box", "ori_id": 37, "id": 41, "objs": ["original-77", "original-76", "original-80", "original-75", "original-66", "original-74", "original-79", "original-65", "original-70", "original-72", "original-71", "original-69", "original-68"], "children": [{"objs": ["original-77", "original-76", "original-80", "original-75", "original-66", "original-74", "original-79"], "ori_id": 40, "text": "drawer_front", "name": "drawer_front", "id": 42}, {"objs": ["original-65"], "ori_id": 41, "text": "drawer_side", "name": "drawer_side", "id": 43}, {"objs": ["original-70", "original-72"], "ori_id": 42, "text": "drawer_side", "name": "drawer_side", "id": 44}, {"objs": ["original-71"], "ori_id": 43, "text": "drawer_back", "name": "drawer_back", "id": 45}, {"objs": ["original-69", "original-68"], "ori_id": 44, "text": "drawer_bottom", "name": "drawer_bottom", "id": 46}], "name": "drawer_box"}, {"objs": ["original-82"], "ori_id": 38, "text": "handle", "name": "handle", "id": 47}, {"objs": ["original-81"], "ori_id": 39, "text": "handle", "name": "handle", "id": 48}], "name": "drawer"}], "name": "cabinet"}], "name": "storage_furniture"}]
\ No newline at end of file
diff --git a/StorageFurniture/46130/partnet_mobility/semantics.txt b/StorageFurniture/46130/partnet_mobility/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..935b1b0ee0e1adeaea0334617306dcc5ecc2f4c0
--- /dev/null
+++ b/StorageFurniture/46130/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/46130/partnet_mobility/semantics_gapartnet.txt b/StorageFurniture/46130/partnet_mobility/semantics_gapartnet.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b9f7cd315b0904e07294a786760768d81601d19
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/semantics_gapartnet.txt
@@ -0,0 +1,10 @@
+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
+link_7 fixed handle
+link_8 fixed handle
+link_9 fixed handle
diff --git a/StorageFurniture/46130/partnet_mobility/textured_objs/original-10.mtl b/StorageFurniture/46130/partnet_mobility/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/textured_objs/original-10.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
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+
+newmtl material_1_0
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+
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+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/46130/partnet_mobility/textured_objs/original-11.mtl b/StorageFurniture/46130/partnet_mobility/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/textured_objs/original-11.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
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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
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/46130/partnet_mobility/textured_objs/original-12.mtl b/StorageFurniture/46130/partnet_mobility/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/textured_objs/original-12.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
+illum 3
+d 1
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+
+newmtl material_1_0
+illum 3
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+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
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+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/46130/partnet_mobility/textured_objs/original-14.mtl b/StorageFurniture/46130/partnet_mobility/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/textured_objs/original-14.mtl
@@ -0,0 +1,23 @@
+newmtl material_0_0
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+newmtl material_1_0
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+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/46130/partnet_mobility/textured_objs/original-15.mtl b/StorageFurniture/46130/partnet_mobility/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/textured_objs/original-15.mtl
@@ -0,0 +1,23 @@
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+map_Kd ../images/texture_1.jpg
+
diff --git a/StorageFurniture/46130/partnet_mobility/textured_objs/original-16.mtl b/StorageFurniture/46130/partnet_mobility/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c19bfbf6c146601646ffd419aa92d4320c51f
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/textured_objs/original-16.mtl
@@ -0,0 +1,23 @@
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diff --git a/StorageFurniture/46130/partnet_mobility/textured_objs/original-17.mtl b/StorageFurniture/46130/partnet_mobility/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a598186bc8ce8efe3d1147a85de760bf213053f
--- /dev/null
+++ b/StorageFurniture/46130/partnet_mobility/textured_objs/original-17.mtl
@@ -0,0 +1,23 @@
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+map_Kd ../images/texture_0.jpg
+
diff --git a/StorageFurniture/46130/partnet_mobility/textured_objs/original-18.mtl b/StorageFurniture/46130/partnet_mobility/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
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\ No newline at end of file
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\ No newline at end of file