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StorageFurniture/45249/partnet_mobility/textured_objs/original-12.mtl

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+newmtl material_0_0
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+newmtl material_1_0
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+map_Kd ../images/texture_1.jpg
+

StorageFurniture/45249/partnet_mobility/textured_objs/original-16.mtl

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+
+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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+map_Kd ../images/texture_1.jpg
+

StorageFurniture/45249/partnet_mobility/textured_objs/original-16.obj

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+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
+o E1_2/E1_1_2/mesh11/mesh11-geometry#mesh11-geometry
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StorageFurniture/45249/partnet_mobility/textured_objs/original-17.obj

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+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
+o E3_2/E3_1_2/mesh12/mesh12-geometry#mesh12-geometry
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StorageFurniture/45249/partnet_mobility/textured_objs/original-2.obj

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+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o S1_3_1/S1_3/mesh1/mesh1-geometry#mesh1-geometry
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StorageFurniture/45249/partnet_mobility/textured_objs/original-20.obj

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+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
+o B_6_1/B_6/mesh15/mesh15-geometry#mesh15-geometry
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+f 5//1 7//1 6//1
+f 8//1 6//1 7//1

StorageFurniture/45249/partnet_mobility/textured_objs/original-24.mtl

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+map_Kd ../images/texture_2.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

StorageFurniture/45249/partnet_mobility/textured_objs/original-24.obj.convex.stl

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StorageFurniture/45249/partnet_mobility/textured_objs/original-26.mtl

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+newmtl material_0_0
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+d 1
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+map_Kd ../images/texture_2.jpg
+
+newmtl material_1_0
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+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

StorageFurniture/45249/partnet_mobility/textured_objs/original-27.obj

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+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
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StorageFurniture/45249/partnet_mobility/textured_objs/original-32.obj.convex.stl

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StorageFurniture/45249/partnet_mobility/textured_objs/original-34.mtl

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+newmtl material_0_0
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+newmtl material_1_0
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+

StorageFurniture/45249/partnet_mobility/textured_objs/original-34.obj.convex.stl

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StorageFurniture/45249/partnet_mobility/textured_objs/original-35.obj

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+# SSTK version 0.8.0
+# 35
+mtllib original-35.mtl
+o mesh26/mesh26-geometry#mesh26-geometry
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+v -0.035683 -0.398699 -0.514571
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+f 2/2/1 3/3/1 1/1/1
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StorageFurniture/45249/partnet_mobility/textured_objs/original-4.mtl

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+map_Kd ../images/texture_0.jpg
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+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+

StorageFurniture/45249/partnet_mobility/textured_objs/original-4.obj

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+# SSTK version 0.8.0
+# 4
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StorageFurniture/45249/partnet_mobility/textured_objs/original-5.mtl

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+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

StorageFurniture/45249/partnet_mobility/textured_objs/original-5.obj

@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o R2_9_1/R2_9/mesh4/mesh4-geometry#mesh4-geometry
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+f 8//1 6//1 9//1
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StorageFurniture/45249/partnet_mobility/textured_objs/original-5.obj.convex.stl

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+  endloop
+ endfacet
+
+endsolid AssimpScene

StorageFurniture/45249/partnet_mobility/textured_objs/original-6.obj

@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o BK_8_1/BK_8/mesh5/mesh5-geometry#mesh5-geometry
+v -0.436602 0.698484 -0.514571
+v 0.432057 -0.548821 -0.514571
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+f 5/6/3 7/9/3 8/10/3
+usemtl material_1_0
+f 3//3 2//3 1//3
+f 4//3 1//3 2//3
+f 4//4 5//4 1//4
+f 6//4 1//4 5//4
+f 6//1 5//1 7//1
+f 8//1 7//1 5//1

StorageFurniture/45249/partnet_mobility/textured_objs/original-8.obj.convex.stl

@@ -0,0 +1,98 @@
+solid AssimpScene
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+  outer loop
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StorageFurniture/45385/partnet_mobility/bounding_box.json

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StorageFurniture/45385/partnet_mobility/link_annotation_gapartnet.json

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StorageFurniture/45385/partnet_mobility/mobility.urdf

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+<?xml version="1.0" ?>
+<robot name="partnet_20d92bdc128be29c59350d819542ec7">
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+		<visual name="vertical_side_panel-9">
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+		</visual>
+		<visual name="vertical_side_panel-10">
+			<origin xyz="0 0 0"/>
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+		</visual>
+		<visual name="vertical_side_panel-10">
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+		<visual name="vertical_divider_panel-11">
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+		</visual>
+		<visual name="vertical_divider_panel-12">
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+		<visual name="back_panel-14">
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+		<visual name="back_panel-14">
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+			<geometry>
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+		<visual name="bottom_panel-15">
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+			<geometry>
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+		<visual name="top_panel-16">
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+		<visual name="frame_vertical_bar-17">
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+		<visual name="frame_vertical_bar-20">
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+		<collision>
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+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
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+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
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+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.7939228574363233 -0.4845849871635437 0.2040372147057043"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="0.0" upper="1.6022122533307945"/>
+	</joint>
+</robot>

StorageFurniture/45385/partnet_mobility/mobility_annotation_gapartnet.urdf

@@ -0,0 +1,435 @@
+<?xml version="1.0" ?>
+<robot name="partnet_20d92bdc128be29c59350d819542ec7">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="vertical_side_panel-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_divider_panel-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_divider_panel-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_divider_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="glass-6">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-8">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-8">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-8">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.7939228574363233 -0.4845849871635437 0.2040372147057043"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="0.0" upper="1.6022122533307945"/>
+	</joint>
+	<link name="link_2">
+		<visual name="handle-1">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_1"/>
+	</joint>
+</robot>

StorageFurniture/45385/partnet_mobility/mobility_texture_gapartnet.urdf

@@ -0,0 +1,428 @@
+<?xml version="1.0" ?>
+<robot name="partnet_20d92bdc128be29c59350d819542ec7">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="vertical_side_panel-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_divider_panel-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_divider_panel-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_divider_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-4">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-5">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="glass-6">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-8">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-8">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-8">
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7939228574363233 0.4845849871635437 -0.2040372147057043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.7939228574363233 -0.4845849871635437 0.2040372147057043"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="0.0" upper="1.6022122533307945"/>
+	</joint>
+</robot>

StorageFurniture/45385/partnet_mobility/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"heavy","name":"cabinet_frame","parts":[{"id":9,"name":"vertical_side_panel","children":[]},{"id":10,"name":"vertical_side_panel","children":[]},{"id":11,"name":"vertical_divider_panel","children":[]},{"id":12,"name":"vertical_divider_panel","children":[]},{"id":13,"name":"vertical_divider_panel","children":[]},{"id":14,"name":"back_panel","children":[]},{"id":15,"name":"bottom_panel","children":[]},{"id":16,"name":"top_panel","children":[]},{"id":17,"name":"frame_vertical_bar","children":[]},{"id":18,"name":"frame_vertical_bar","children":[]},{"id":19,"name":"frame_vertical_bar","children":[]},{"id":20,"name":"frame_vertical_bar","children":[]},{"id":21,"name":"frame_vertical_bar","children":[]},{"id":22,"name":"frame_horizontal_bar","children":[]},{"id":23,"name":"frame_horizontal_bar","children":[]},{"id":26,"name":"other_leaf","children":[]},{"id":29,"name":"vertical_front_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":[]},{"id":6,"name":"glass","children":[]},{"id":8,"name":"other_leaf","children":[]}],"jointData":{"axis":{"origin":[-0.7939228574363233,-0.4845849871635437,0.2040372147057043],"direction":[0,-1,0]},"limit":{"a":0,"b":91.8,"noLimit":false}}}]

StorageFurniture/45385/partnet_mobility/result.json

@@ -0,0 +1 @@
+[{"text": "Storage Furniture", "children": [{"text": "Cabinet", "children": [{"text": "Cabinet frame", "children": [{"text": "Vertical side panel", "objs": ["original-14", "original-15"], "id": 9, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-2", "original-3"], "id": 10, "name": "vertical_side_panel"}, {"text": "Vertical divider panel", "objs": ["original-22"], "id": 11, "name": "vertical_divider_panel"}, {"text": "Vertical divider panel", "objs": ["original-21"], "id": 12, "name": "vertical_divider_panel"}, {"text": "Vertical divider panel", "objs": ["original-19"], "id": 13, "name": "vertical_divider_panel"}, {"text": "Back panel", "objs": ["original-7", "original-8"], "id": 14, "name": "back_panel"}, {"text": "Bottom panel", "objs": ["original-9"], "id": 15, "name": "bottom_panel"}, {"text": "Top panel", "objs": ["original-10"], "id": 16, "name": "top_panel"}, {"text": "Vertical support bar", "objs": ["original-20"], "id": 17, "name": "frame_vertical_bar"}, {"text": "Vertical support bar", "objs": ["original-17"], "id": 18, "name": "frame_vertical_bar"}, {"text": "Vertical support bar", "objs": ["original-4"], "id": 19, "name": "frame_vertical_bar"}, {"text": "Vertical support bar", "objs": ["original-5"], "id": 20, "name": "frame_vertical_bar"}, {"text": "Vertical support bar", "objs": ["original-16"], "id": 21, "name": "frame_vertical_bar"}, {"text": "Horizontal support bar", "objs": ["original-12"], "id": 22, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-11"], "id": 23, "name": "frame_horizontal_bar"}, {"text": "rectangle (other)", "children": [{"text": "other_leaf", "objs": ["original-40"], "id": 26, "name": "other_leaf"}], "id": 25, "name": "other"}, {"text": "Vertical front panel", "objs": ["original-18"], "id": 29, "name": "vertical_front_panel"}], "id": 2, "name": "cabinet_frame"}, {"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["original-31", "original-29", "original-26", "original-27", "original-30", "original-28", "original-25", "original-24", "original-39"], "id": 4, "name": "cabinet_door_surface"}, {"text": "Handle", "objs": ["original-32"], "id": 5, "name": "handle"}, {"text": "Glass", "objs": ["original-38"], "id": 6, "name": "glass"}, {"text": "decoration (other)", "children": [{"text": "other_leaf", "objs": ["original-34", "original-35", "original-36"], "id": 8, "name": "other_leaf"}], "id": 7, "name": "other"}], "id": 3, "name": "cabinet_door"}], "id": 1, "name": "cabinet"}], "id": 0, "name": "storage_furniture"}]

StorageFurniture/45385/partnet_mobility/semantics.txt

@@ -0,0 +1,2 @@
+link_0 heavy furniture_body
+link_1 hinge rotation_door

StorageFurniture/45385/partnet_mobility/semantics_gapartnet.txt

@@ -0,0 +1,3 @@
+link_0 heavy furniture_body
+link_1 hinge door
+link_2 fixed handle

StorageFurniture/45385/partnet_mobility/textured_objs/original-10.obj.convex.stl

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+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
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+ facet normal 0 0 0
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+  vertex 0.833127081 0.50849998 0.171575993
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+ facet normal 0 0 0
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+  vertex 0.833127081 0.525584996 -0.212843999
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.807063997 0.50849998 -0.212843999
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+  vertex 0.833127081 0.50849998 -0.212843999
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+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  outer loop
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+  vertex -0.807063997 0.50849998 0.171575993
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.833127081 0.50849998 0.171575993
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+ facet normal 0 0 0
+  outer loop
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+  outer loop
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+ facet normal 0 0 0
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+  endloop
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StorageFurniture/45385/partnet_mobility/textured_objs/original-14.obj

@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
+o mesh1/mesh1-geometry#mesh1-geometry
+v -0.772893 0.508500 -0.195759
+v -0.772893 -0.465364 0.171576
+v -0.772893 -0.465364 -0.195759
+v -0.772893 0.508500 0.171576
+vt -0.514067 -3.804456
+vt -0.738026 -4.279948
+vt -0.514067 -4.279948
+vt -0.738025 -3.804456
+vn 1 0 0
+vn -1 0 0
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+usemtl material_1_0
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2

StorageFurniture/45385/partnet_mobility/textured_objs/original-17.obj

@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
+o HRB_copy_001/HRB/mesh3/mesh3-geometry#mesh3-geometry
+v -0.294504 0.508500 -0.195759
+v -0.294504 -0.465364 -0.212844
+v -0.294504 -0.465364 -0.195759
+v -0.294504 0.508500 -0.212844
+v -0.191992 -0.465364 -0.195759
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+v -0.191992 0.508500 -0.195759
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+vt -0.734277 -0.213443
+vt -0.744693 -0.807193
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+vt -0.807193 -0.838443
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+vt -0.807193 -0.213443
+vt -0.807193 -1.432193
+vt -0.807193 -0.807193
+vt -0.81761 -0.807193
+vt -0.81761 -0.213443
+vn -1 0 0
+vn 0 0 1
+vn 0 0 -1
+vn 1 0 0
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 5/5/2 1/6/2 3/7/2
+f 6/8/3 2/2/3 4/4/3
+f 1/6/2 5/5/2 7/9/2
+f 2/2/3 6/8/3 8/10/3
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+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 storage_furniture Storage Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 cabinet Cabinet</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 cabinet_frame Cabinet frame</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>3 cabinet_door Cabinet door</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td></tr><tr><td><p>9 vertical_side_panel Vertical side panel</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 vertical_side_panel Vertical side panel</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 vertical_divider_panel Vertical divider panel</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 vertical_divider_panel Vertical divider panel</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 vertical_divider_panel Vertical divider panel</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 back_panel Back panel</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 bottom_panel Bottom panel</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 top_panel Top panel</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 frame_vertical_bar Vertical support bar</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 frame_vertical_bar Vertical support bar</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 frame_vertical_bar Vertical support bar</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 frame_vertical_bar Vertical support bar</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 frame_vertical_bar Vertical support bar</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>25 other rectangle (other)</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 vertical_front_panel Vertical front panel</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 cabinet_door_surface Cabinet door surface</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 handle Handle</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 glass Glass</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 other decoration (other)</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>26 other_leaf other_leaf</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 other_leaf other_leaf</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td></tr></table></body></html>

StorageFurniture/46616/partnet_mobility/mobility_texture_gapartnet.urdf

@@ -0,0 +1,248 @@
+<?xml version="1.0" ?>
+<robot name="partnet_661f24ca8ef19f864c3aee8e9d3a6ffa">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="-0.2950282894142199 0 -0.26743947912565386"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-7">
+			<origin xyz="-0.2950282894142199 0 -0.26743947912565386"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-7">
+			<origin xyz="-0.2950282894142199 0 -0.26743947912565386"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-7">
+			<origin xyz="-0.2950282894142199 0 -0.26743947912565386"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2950282894142199 0 -0.26743947912565386"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2950282894142199 0 -0.26743947912565386"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2950282894142199 0 -0.26743947912565386"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2950282894142199 0 -0.26743947912565386"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.2950282894142199 0 0.26743947912565386"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="shelf-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shelf-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shelf-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>

StorageFurniture/46616/partnet_mobility/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"cabinet_door","parts":[{"id":6,"name":"cabinet_door_surface","children":[]},{"id":7,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0.2950282894142199,0,0.26743947912565386],"direction":[0,1,0]},"limit":{"a":0,"b":90,"noLimit":false}}},{"id":1,"parent":-1,"joint":"heavy","name":"shelf","parts":[{"id":9,"name":"shelf","children":[]},{"id":10,"name":"shelf","children":[]},{"id":11,"name":"shelf","children":[]},{"id":12,"name":"vertical_side_panel","children":[]},{"id":13,"name":"vertical_side_panel","children":[]},{"id":14,"name":"back_panel","children":[]},{"id":15,"name":"bottom_panel","children":[]},{"id":16,"name":"top_panel","children":[]},{"id":17,"name":"frame_vertical_bar","children":[]},{"id":18,"name":"frame_vertical_bar","children":[]},{"id":19,"name":"frame_horizontal_bar","children":[]},{"id":20,"name":"frame_horizontal_bar","children":[]},{"id":21,"name":"frame_horizontal_bar","children":[]},{"id":22,"name":"frame_horizontal_bar","children":[]},{"id":23,"name":"frame_horizontal_bar","children":[]}],"jointData":{}}]

StorageFurniture/46616/partnet_mobility/semantics_gapartnet.txt

@@ -0,0 +1,3 @@
+link_0 hinge door
+link_1 heavy furniture_body
+link_2 fixed handle

StorageFurniture/46616/partnet_mobility/tree_hier.html

@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 storage_furniture Storage Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 cabinet Cabinet</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>5 cabinet_door Cabinet door</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>8 cabinet_frame Cabinet frame</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>9 shelf Shelf</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 shelf Shelf</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 shelf Shelf</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td></tr><tr><td><p>6 cabinet_door_surface Cabinet door surface</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 handle Handle</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>12 vertical_side_panel Vertical side panel</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 vertical_side_panel Vertical side panel</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 back_panel Back panel</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 bottom_panel Bottom panel</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 top_panel Top panel</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 frame_vertical_bar Vertical support bar</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 frame_vertical_bar Vertical support bar</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td></tr></table></body></html>