Add files using upload-large-folder tool

StorageFurniture/45007/partnet_mobility/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.688819, -0.685168, -0.281127], "max": [0.716884, 0.720535, 0.382189]}

StorageFurniture/45007/partnet_mobility/link_annotation_gapartnet.json

@@ -0,0 +1 @@
+[{"link_name": "link_0", "is_gapart": false, "category": "", "bbox": []}, {"link_name": "link_1", "is_gapart": true, "category": "hinge_door", "bbox": [[-0.31642659567104686, -0.6706837385398527, 0.11366862127331367], [-0.3158742516918578, -0.670683693124869, -0.6383305476136322], [-0.3158742516918577, 0.6440364817419693, -0.6383304682146144], [-0.3164265956710467, 0.6440364363269855, 0.11366870067233148], [-0.2811770545058555, -0.6706837385399855, 0.11367082148365948], [-0.2806247105266665, -0.6706836931250018, -0.6383283474032864], [-0.2806247105266664, 0.6440364817418365, -0.6383282680042686], [-0.2811770545058554, 0.6440364363268527, 0.1136709008826774]]}, {"link_name": "link_2", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.3822227305789257, -0.601256095080885, -0.46646250700275826], [-0.3822227305789257, -0.6012560950808847, -0.059041487480695376], [-0.38222273057892564, -0.6301654402323438, -0.059041487480695376], [-0.38222273057892564, -0.630165440232344, -0.46646250700275826], [-0.3146941115701072, -0.601256095080885, -0.46646250700275815], [-0.3146941115701072, -0.6012560950808847, -0.059041487480695376], [-0.3146941115701072, -0.6301654402323438, -0.05904148748069549], [-0.3146941115701071, -0.6301654402323438, -0.46646250700275815]]}]

StorageFurniture/45007/partnet_mobility/meta.json

@@ -0,0 +1 @@
+{"model_id": "147eb60e7a6cadde4da5feafe6f1c8fc", "anno_id": "45007", "user_id": "face++wsl", "time_in_sec": "495", "version": "3", "model_cat": "StorageFurniture"}

StorageFurniture/45007/partnet_mobility/mobility.urdf

@@ -0,0 +1,428 @@
+<?xml version="1.0" ?>
+<robot name="partnet_147eb60e7a6cadde4da5feafe6f1c8fc">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="vertical_side_panel-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_divider_panel-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_divider_panel-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.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-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.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-4.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-42.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="handle-5">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-5">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-5">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-10">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-9">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.6320801278470837 -0.6383061303756998 0.2942974915990896"/>
+		<axis xyz="0 -0.9999997302451396 -0.0007345132049129426"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+</robot>

StorageFurniture/45007/partnet_mobility/mobility_annotation_gapartnet.urdf

@@ -0,0 +1,435 @@
+<?xml version="1.0" ?>
+<robot name="partnet_147eb60e7a6cadde4da5feafe6f1c8fc">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="vertical_side_panel-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_divider_panel-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_divider_panel-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.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-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.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-4.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-42.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-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.6320801278470837 -0.6383061303756998 0.2942974915990896"/>
+		<axis xyz="0 -0.9999997302451396 -0.0007345132049129426"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_2">
+		<visual name="handle-1">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.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/45007/partnet_mobility/mobility_texture_gapartnet.urdf

@@ -0,0 +1,428 @@
+<?xml version="1.0" ?>
+<robot name="partnet_147eb60e7a6cadde4da5feafe6f1c8fc">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="vertical_side_panel-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_divider_panel-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_divider_panel-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="top_panel-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.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-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.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-4.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-42.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="handle-5">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-5">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-5">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-6">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-10">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-9">
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6320801278470837 0.6383061303756998 -0.2942974915990896"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.6320801278470837 -0.6383061303756998 0.2942974915990896"/>
+		<axis xyz="0 -0.9999997302451396 -0.0007345132049129426"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+</robot>

StorageFurniture/45007/partnet_mobility/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"heavy","name":"cabinet_frame","parts":[{"id":11,"name":"vertical_side_panel","children":[]},{"id":12,"name":"vertical_side_panel","children":[]},{"id":13,"name":"vertical_front_panel","children":[]},{"id":14,"name":"vertical_divider_panel","children":[]},{"id":15,"name":"vertical_divider_panel","children":[]},{"id":16,"name":"back_panel","children":[]},{"id":17,"name":"bottom_panel","children":[]},{"id":18,"name":"top_panel","children":[]},{"id":19,"name":"frame_vertical_bar","children":[]},{"id":20,"name":"frame_vertical_bar","children":[]},{"id":21,"name":"frame_vertical_bar","children":[]},{"id":23,"name":"other_leaf","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"hinge","name":"cabinet_door","parts":[{"id":5,"name":"handle","children":[]},{"id":6,"name":"cabinet_door_surface","children":[]},{"id":10,"name":"other_leaf","children":[]},{"id":9,"name":"other_leaf","children":[]}],"jointData":{"axis":{"origin":[-0.6320801278470837,-0.6383061303756998,0.2942974915990896],"direction":[0,-0.9999997302451396,-0.0007345132049129426]},"limit":{"a":0,"b":90,"noLimit":false}}}]

StorageFurniture/45007/partnet_mobility/parts_render/0.txt

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

StorageFurniture/45007/partnet_mobility/parts_render/1.txt

@@ -0,0 +1 @@
+1 cabinet Cabinet

StorageFurniture/45007/partnet_mobility/parts_render/10.txt

@@ -0,0 +1 @@
+10 other_leaf other_leaf

StorageFurniture/45007/partnet_mobility/parts_render/11.txt

@@ -0,0 +1 @@
+11 vertical_side_panel Vertical side panel

StorageFurniture/45007/partnet_mobility/parts_render/12.txt

@@ -0,0 +1 @@
+12 vertical_side_panel Vertical side panel

StorageFurniture/45007/partnet_mobility/parts_render/13.txt

@@ -0,0 +1 @@
+13 vertical_front_panel Vertical front panel

StorageFurniture/45007/partnet_mobility/parts_render/14.txt

@@ -0,0 +1 @@
+14 vertical_divider_panel Vertical divider panel

StorageFurniture/45007/partnet_mobility/parts_render/15.txt

@@ -0,0 +1 @@
+15 vertical_divider_panel Vertical divider panel

StorageFurniture/45007/partnet_mobility/parts_render/16.txt

@@ -0,0 +1 @@
+16 back_panel Back panel

StorageFurniture/45007/partnet_mobility/parts_render/17.txt

@@ -0,0 +1 @@
+17 bottom_panel Bottom panel

StorageFurniture/45007/partnet_mobility/parts_render/18.txt

@@ -0,0 +1 @@
+18 top_panel Top panel

StorageFurniture/45007/partnet_mobility/parts_render/19.txt

@@ -0,0 +1 @@
+19 frame_vertical_bar Vertical support bar

StorageFurniture/45007/partnet_mobility/parts_render/2.txt

@@ -0,0 +1 @@
+2 cabinet_frame Cabinet frame

StorageFurniture/45007/partnet_mobility/parts_render/20.txt

@@ -0,0 +1 @@
+20 frame_vertical_bar Vertical support bar

StorageFurniture/45007/partnet_mobility/parts_render/21.txt

@@ -0,0 +1 @@
+21 frame_vertical_bar Vertical support bar

StorageFurniture/45007/partnet_mobility/parts_render/22.txt

@@ -0,0 +1 @@
+22 other Rectangular hole (other)

StorageFurniture/45007/partnet_mobility/parts_render/23.txt

@@ -0,0 +1 @@
+23 other_leaf other_leaf

StorageFurniture/45007/partnet_mobility/parts_render/3.txt

@@ -0,0 +1 @@
+3 cabinet_door Cabinet door

StorageFurniture/45007/partnet_mobility/parts_render/5.txt

@@ -0,0 +1 @@
+5 handle Handle

StorageFurniture/45007/partnet_mobility/parts_render/6.txt

@@ -0,0 +1 @@
+6 cabinet_door_surface Cabinet door surface

StorageFurniture/45007/partnet_mobility/parts_render/7.txt

@@ -0,0 +1 @@
+7 other Screw (other)

StorageFurniture/45007/partnet_mobility/parts_render/8.txt

@@ -0,0 +1 @@
+8 other Screw (other)

StorageFurniture/45007/partnet_mobility/parts_render/9.txt

@@ -0,0 +1 @@
+9 other_leaf other_leaf

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/0.txt

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

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/1.txt

@@ -0,0 +1 @@
+1 cabinet cabinet

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/10.txt

@@ -0,0 +1 @@
+10 top_panel top_panel

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/11.txt

@@ -0,0 +1 @@
+11 frame_vertical_bar frame_vertical_bar

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/12.txt

@@ -0,0 +1 @@
+12 frame_vertical_bar frame_vertical_bar

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/13.txt

@@ -0,0 +1 @@
+13 frame_vertical_bar frame_vertical_bar

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/14.txt

@@ -0,0 +1 @@
+14 cabinet_door cabinet_door

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/15.txt

@@ -0,0 +1 @@
+15 handle handle

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/16.txt

@@ -0,0 +1 @@
+16 cabinet_door_surface cabinet_door_surface

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/2.txt

@@ -0,0 +1 @@
+2 cabinet_frame cabinet_frame

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/3.txt

@@ -0,0 +1 @@
+3 vertical_side_panel vertical_side_panel

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/4.txt

@@ -0,0 +1 @@
+4 vertical_side_panel vertical_side_panel

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/5.txt

@@ -0,0 +1 @@
+5 vertical_front_panel vertical_front_panel

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/6.txt

@@ -0,0 +1 @@
+6 vertical_divider_panel vertical_divider_panel

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/7.txt

@@ -0,0 +1 @@
+7 vertical_divider_panel vertical_divider_panel

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/8.txt

@@ -0,0 +1 @@
+8 back_panel back_panel

StorageFurniture/45007/partnet_mobility/parts_render_after_merging/9.txt

@@ -0,0 +1 @@
+9 bottom_panel bottom_panel

StorageFurniture/45007/partnet_mobility/point_sample/label-10000.txt

@@ -0,0 +1,10000 @@
+6
+18
+17
+18
+16
+13
+13
+17
+6
+19
+13
+20
+6
+17
+21
+13
+16
+6
+17
+15
+15
+18
+14
+12
+20
+18
+14
+17
+12
+12
+11
+13
+21
+6
+11
+18
+13
+13
+6
+17
+16
+16
+18
+11
+16
+16
+17
+13
+16
+6
+6
+14
+16
+13
+15
+14
+16
+13
+20
+18
+13
+15
+19
+16
+6
+14
+12
+13
+6
+6
+15
+14
+16
+17
+17
+20
+12
+13
+16
+18
+15
+21
+19
+18
+13
+13
+18
+18
+15
+11
+13
+13
+17
+16
+14
+6
+13
+16
+12
+12
+6
+16
+17
+18
+13
+13
+16
+11
+6
+6
+12
+14
+12
+19
+11
+14
+11
+20
+13
+17
+18
+6
+18
+19
+6
+11
+11
+18
+14
+17
+16
+15
+16
+16
+11
+13
+18
+16
+14
+17
+6
+15
+6
+15
+6
+18
+18
+6
+11
+6
+14
+6
+16
+6
+12
+16
+15
+13
+5
+16
+15
+13
+17
+17
+16
+16
+16
+14
+14
+18
+16
+11
+17
+12
+15
+15
+21
+15
+18
+20
+14
+12
+19
+17
+16
+16
+17
+13
+13
+13
+19
+11
+6
+16
+14
+18
+15
+13
+17
+6
+19
+16
+16
+17
+11
+14
+12
+6
+13
+13
+11
+14
+13
+16
+15
+18
+16
+16
+13
+13
+12
+13
+20
+14
+6
+13
+11
+21
+18
+16
+18
+19
+15
+17
+13
+13
+13
+6
+6
+14
+21
+14
+18
+16
+18
+19
+6
+17
+16
+13
+18
+16
+18
+6
+18
+13
+12
+15
+20
+16
+16
+16
+16
+16
+14
+11
+17
+12
+17
+17
+12
+20
+6
+19
+11
+14
+17
+16
+13
+6
+17
+17
+13
+11
+12
+14
+12
+15
+12
+16
+16
+15
+13
+16
+6
+14
+14
+6
+6
+13
+16
+11
+16
+13
+18
+16
+12
+13
+12
+12
+18
+6
+15
+11
+18
+16
+6
+11
+6
+18
+16
+15
+6
+11
+16
+6
+13
+12
+18
+6
+12
+13
+19
+18
+14
+21
+15
+20
+5
+15
+12
+18
+13
+16
+13
+15
+17
+6
+14
+16
+6
+20
+16
+17
+13
+14
+12
+6
+15
+11
+14
+12
+11
+6
+13
+17
+11
+18
+18
+12
+18
+11
+17
+13
+16
+17
+16
+20
+11
+17
+11
+12
+6
+16
+17
+16
+13
+17
+12
+11
+16
+16
+14
+17
+6
+12
+6
+17
+15
+14
+14
+18
+15
+6
+15
+12
+16
+13
+15
+6
+13
+15
+17
+17
+14
+13
+11
+18
+16
+20
+17
+16
+16
+15
+18
+11
+11
+13
+11
+6
+13
+16
+16
+16
+13
+6
+16
+11
+16
+11
+16
+19
+13
+6
+16
+12
+17
+13
+15
+12
+16
+6
+14
+17
+15
+19
+12
+6
+14
+13
+14
+16
+13
+21
+6
+6
+11
+23
+18
+12
+21
+16
+14
+16
+15
+14
+19
+14
+18
+15
+15
+15
+12
+16
+16
+11
+16
+6
+13
+16
+11
+6
+18
+11
+21
+17
+6
+12
+13
+16
+16
+16
+14
+11
+12
+15
+6
+16
+17
+14
+18
+13
+13
+11
+16
+13
+18
+16
+6
+17
+13
+12
+14
+11
+11
+15
+15
+11
+15
+18
+6
+16
+12
+6
+21
+6
+17
+13
+15
+11
+18
+17
+6
+13
+6
+15
+14
+18
+15
+16
+20
+16
+6
+13
+12
+13
+14
+15
+14
+14
+11
+17
+19
+15
+16
+14
+6
+14
+18
+16
+6
+11
+16
+12
+20
+16
+16
+14
+12
+18
+20
+17
+16
+14
+6
+6
+16
+14
+16
+13
+13
+14
+13
+16
+11
+18
+16
+17
+21
+12
+21
+16
+6
+15
+16
+18
+18
+18
+15
+15
+16
+13
+15
+17
+13
+13
+13
+6
+16
+20
+12
+15
+20
+17
+12
+14
+16
+18
+13
+21
+14
+12
+13
+12
+6
+17
+18
+16
+13
+15
+15
+6
+12
+18
+13
+15
+15
+12
+6
+15
+14
+18
+16
+14
+17
+18
+16
+17
+6
+13
+11
+18
+13
+21
+15
+17
+6
+6
+6
+11
+13
+15
+14
+13
+13
+14
+18
+16
+13
+13
+18
+15
+14
+16
+16
+17
+6
+6
+16
+16
+13
+17
+12
+13
+6
+16
+11
+16
+17
+16
+16
+14
+18
+18
+16
+16
+13
+6
+6
+12
+16
+12
+15
+6
+11
+13
+12
+16
+6
+16
+13
+13
+17
+18
+20
+13
+13
+15
+18
+6
+18
+16
+12
+16
+16
+6
+13
+18
+13
+12
+15
+5
+15
+18
+6
+6
+16
+16
+11
+6
+17
+16
+19
+11
+16
+14
+6
+13
+11
+14
+18
+11
+17
+6
+17
+16
+16
+18
+6
+14
+16
+13
+12
+15
+11
+17
+17
+11
+13
+14
+17
+13
+12
+20
+14
+21
+14
+17
+13
+16
+13
+6
+13
+13
+17
+14
+15
+11
+6
+18
+16
+15
+18
+14
+13
+19
+16
+16
+14
+13
+16
+6
+11
+15
+14
+18
+16
+16
+11
+16
+15
+11
+12
+11
+12
+6
+16
+6
+13
+15
+6
+14
+13
+17
+6
+14
+16
+12
+14
+18
+18
+18
+17
+18
+14
+18
+6
+15
+16
+13
+13
+14
+13
+11
+19
+16
+16
+19
+13
+15
+12
+13
+13
+13
+18
+18
+6
+14
+6
+19
+15
+11
+17
+14
+17
+16
+16
+14
+6
+12
+15
+13
+13
+17
+16
+13
+18
+12
+11
+16
+18
+20
+16
+12
+16
+16
+11
+18
+13
+18
+14
+20
+6
+12
+6
+18
+14
+15
+13
+16
+12
+6
+16
+15
+18
+14
+13
+16
+14
+14
+6
+18
+18
+21
+13
+11
+12
+13
+13
+17
+21
+19
+18
+15
+13
+13
+16
+6
+18
+6
+16
+6
+17
+6
+13
+6
+15
+17
+15
+13
+11
+14
+13
+14
+6
+13
+13
+19
+16
+14
+6
+11
+17
+6
+13
+13
+6
+13
+17
+17
+23
+16
+17
+16
+12
+11
+6
+12
+13
+12
+15
+13
+6
+16
+17
+6
+16
+18
+14
+17
+15
+16
+11
+6
+17
+16
+11
+17
+18
+18
+16
+12
+13
+15
+13
+6
+13
+12
+6
+15
+17
+17
+16
+16
+18
+6
+17
+11
+13
+16
+15
+16
+17
+17
+17
+13
+19
+18
+17
+14
+15
+11
+20
+13
+16
+17
+18
+11
+20
+17
+16
+16
+14
+6
+13
+16
+14
+13
+13
+14
+15
+20
+18
+12
+16
+17
+13
+14
+15
+6
+15
+13
+18
+6
+16
+6
+15
+6
+11
+6
+11
+6
+21
+14
+16
+12
+16
+14
+16
+16
+14
+20
+18
+15
+11
+12
+18
+17
+17
+19
+11
+16
+11
+6
+17
+17
+16
+18
+6
+13
+16
+16
+13
+13
+12
+14
+19
+12
+6
+13
+14
+17
+16
+13
+14
+6
+12
+14
+15
+6
+6
+12
+13
+15
+17
+16
+15
+6
+17
+15
+12
+16
+14
+13
+15
+14
+17
+6
+18
+6
+15
+12
+15
+16
+16
+13
+17
+11
+15
+15
+12
+17
+21
+13
+17
+12
+15
+13
+18
+11
+20
+18
+13
+12
+13
+6
+12
+18
+15
+6
+15
+14
+6
+16
+18
+13
+12
+17
+11
+13
+14
+13
+12
+11
+17
+17
+6
+20
+11
+6
+6
+17
+17
+5
+16
+18
+12
+16
+6
+13
+14
+14
+13
+16
+15
+15
+12
+13
+11
+13
+13
+15
+18
+6
+15
+16
+20
+16
+13
+13
+21
+13
+13
+6
+16
+13
+21
+17
+18
+11
+6
+6
+18
+18
+6
+13
+6
+14
+11
+11
+14
+13
+13
+11
+16
+14
+18
+13
+14
+12
+15
+16
+21
+6
+6
+17
+16
+6
+16
+18
+11
+14
+16
+14
+15
+14
+13
+13
+16
+11
+14
+11
+16
+6
+13
+15
+17
+16
+16
+19
+14
+16
+19
+6
+11
+16
+17
+12
+21
+12
+13
+14
+11
+18
+11
+15
+13
+12
+12
+16
+13
+17
+17
+16
+13
+16
+17
+17
+17
+18
+16
+6
+13
+20
+18
+6
+6
+18
+13
+15
+16
+19
+18
+13
+6
+12
+15
+6
+12
+16
+19
+15
+13
+17
+6
+6
+16
+15
+16
+12
+11
+6
+17
+16
+6
+11
+15
+12
+16
+14
+16
+6
+16
+16
+12
+14
+18
+13
+16
+13
+16
+17
+18
+12
+11
+13
+12
+13
+11
+14
+13
+13
+14
+17
+16
+13
+16
+15
+18
+6
+6
+14
+14
+18
+14
+14
+6
+11
+14
+14
+14
+16
+20
+16
+17
+12
+6
+6
+16
+13
+6
+18
+12
+13
+16
+13
+14
+11
+18
+19
+15
+11
+16
+6
+20
+16
+13
+15
+21
+6
+14
+16
+16
+13
+14
+16
+16
+13
+11
+18
+16
+13
+6
+13
+17
+16
+13
+16
+6
+16
+11
+14
+6
+6
+12
+19
+13
+17
+13
+6
+13
+15
+12
+14
+14
+15
+20
+12
+21
+6
+18
+17
+6
+19
+16
+15
+6
+18
+15
+12
+16
+6
+11
+17
+15
+6
+13
+17
+16
+17
+16
+15
+14
+16
+16
+11
+18
+11
+16
+16
+16
+16
+12
+16
+15
+6
+18
+13
+16
+12
+13
+6
+15
+12
+14
+18
+17
+17
+16
+11
+18
+15
+17
+17
+13
+18
+11
+14
+18
+15
+18
+15
+16
+15
+16
+6
+18
+16
+11
+18
+16
+18
+14
+14
+12
+15
+15
+11
+16
+19
+15
+6
+18
+12
+15
+18
+16
+6
+16
+21
+19
+6
+14
+15
+20
+15
+15
+13
+14
+12
+18
+14
+15
+16
+13
+11
+13
+13
+6
+16
+16
+16
+13
+12
+13
+11
+18
+12
+18
+6
+16
+18
+15
+16
+16
+6
+12
+17
+6
+18
+18
+14
+13
+16
+15
+16
+12
+16
+16
+12
+15
+16
+11
+12
+6
+19
+6
+12
+6
+6
+14
+6
+15
+17
+13
+6
+14
+19
+6
+16
+18
+14
+12
+11
+16
+17
+16
+16
+13
+14
+12
+15
+16
+17
+17
+12
+16
+13
+21
+12
+18
+6
+12
+17
+16
+6
+11
+20
+6
+14
+19
+17
+16
+15
+6
+16
+17
+18
+16
+6
+13
+17
+6
+17
+16
+17
+6
+18
+15
+14
+16
+17
+11
+17
+14
+14
+15
+13
+18
+6
+14
+11
+14
+6
+15
+15
+15
+15
+11
+20
+15
+12
+15
+6
+15
+17
+16
+16
+15
+21
+14
+16
+21
+13
+20
+14
+14
+11
+6
+16
+13
+17
+17
+15
+6
+13
+13
+14
+21
+15
+15
+16
+14
+20
+16
+17
+13
+13
+11
+16
+14
+6
+13
+14
+18
+18
+16
+16
+13
+16
+15
+11
+6
+18
+15
+14
+16
+16
+6
+6
+6
+13
+16
+6
+6
+17
+16
+12
+12
+6
+11
+6
+11
+18
+13
+19
+18
+13
+11
+18
+12
+6
+13
+21
+11
+16
+16
+12
+16
+11
+15
+21
+14
+18
+11
+11
+11
+11
+11
+11
+14
+14
+13
+15
+12
+13
+17
+11
+16
+18
+16
+11
+13
+13
+18
+17
+17
+18
+13
+16
+11
+6
+12
+15
+11
+21
+15
+14
+6
+6
+11
+6
+13
+17
+13
+13
+6
+14
+6
+15
+13
+13
+14
+14
+16
+6
+6
+21
+6
+15
+16
+6
+21
+6
+16
+16
+14
+18
+15
+18
+16
+13
+6
+17
+11
+16
+12
+16
+20
+14
+13
+12
+12
+13
+11
+13
+14
+18
+16
+14
+16
+6
+14
+11
+20
+13
+15
+19
+16
+14
+16
+16
+12
+17
+14
+14
+13
+13
+11
+14
+12
+13
+17
+18
+15
+6
+13
+13
+21
+12
+15
+14
+18
+11
+13
+6
+17
+14
+16
+13
+17
+13
+12
+6
+14
+15
+11
+6
+14
+17
+14
+6
+17
+13
+6
+16
+6
+6
+13
+14
+14
+18
+19
+6
+18
+14
+13
+18
+16
+6
+11
+17
+14
+18
+13
+18
+12
+19
+15
+13
+16
+18
+15
+15
+16
+13
+13
+17
+15
+12
+17
+20
+13
+12
+12
+14
+13
+13
+16
+13
+12
+17
+16
+17
+6
+14
+15
+19
+14
+18
+18
+16
+16
+13
+19
+13
+15
+11
+12
+16
+13
+11
+13
+18
+6
+13
+19
+15
+13
+16
+15
+13
+13
+6
+6
+6
+13
+14
+6
+13
+11
+14
+15
+16
+14
+12
+14
+16
+11
+11
+12
+17
+14
+6
+16
+12
+13
+16
+16
+17
+15
+18
+16
+6
+12
+6
+16
+16
+18
+16
+18
+12
+6
+6
+11
+13
+16
+16
+12
+16
+11
+12
+17
+6
+15
+11
+19
+15
+13
+16
+16
+18
+13
+16
+13
+12
+6
+15
+19
+13
+12
+11
+6
+14
+21
+12
+12
+15
+13
+6
+17
+15
+13
+18
+13
+6
+6
+16
+15
+13
+16
+18
+16
+18
+14
+15
+11
+17
+6
+14
+15
+20
+15
+17
+13
+17
+13
+13
+18
+14
+18
+18
+14
+6
+11
+15
+16
+6
+15
+14
+14
+6
+18
+6
+19
+14
+12
+14
+16
+12
+18
+19
+6
+15
+6
+17
+6
+19
+17
+17
+13
+16
+16
+6
+14
+19
+18
+16
+13
+6
+16
+14
+18
+13
+16
+11
+14
+19
+18
+15
+15
+16
+16
+16
+14
+18
+15
+15
+18
+6
+12
+6
+16
+13
+11
+6
+17
+6
+13
+15
+16
+20
+15
+16
+16
+16
+6
+13
+15
+20
+15
+14
+18
+13
+12
+6
+18
+16
+16
+16
+6
+16
+17
+18
+16
+14
+16
+6
+18
+15
+17
+13
+18
+21
+12
+18
+17
+13
+16
+13
+11
+16
+11
+16
+16
+18
+11
+16
+16
+13
+6
+18
+15
+13
+15
+6
+15
+15
+14
+13
+13
+16
+15
+19
+16
+12
+6
+13
+16
+11
+14
+17
+19
+16
+11
+21
+19
+18
+14
+16
+18
+6
+12
+12
+12
+12
+19
+13
+20
+18
+15
+15
+15
+12
+11
+13
+11
+6
+16
+15
+13
+17
+16
+13
+13
+15
+16
+15
+16
+14
+18
+14
+14
+5
+15
+14
+6
+14
+11
+12
+18
+13
+15
+13
+14
+11
+16
+14
+11
+20
+17
+18
+12
+15
+6
+16
+11
+16
+13
+13
+12
+12
+17
+11
+16
+14
+19
+12
+13
+6
+17
+16
+15
+13
+18
+15
+21
+15
+14
+18
+15
+13
+15
+15
+6
+13
+17
+14
+13
+13
+6
+14
+16
+6
+16
+18
+13
+21
+14
+15
+13
+11
+16
+18
+6
+16
+12
+17
+13
+21
+11
+13
+13
+6
+16
+13
+6
+13
+13
+17
+15
+6
+6
+13
+5
+17
+11
+16
+16
+16
+17
+6
+17
+16
+11
+17
+6
+18
+13
+16
+14
+17
+12
+14
+21
+15
+21
+11
+17
+20
+11
+14
+14
+16
+14
+14
+17
+6
+15
+16
+13
+20
+11
+17
+12
+14
+14
+6
+18
+15
+11
+14
+21
+13
+11
+17
+14
+14
+19
+16
+16
+14
+11
+15
+13
+16
+6
+6
+16
+13
+14
+18
+17
+15
+14
+16
+6
+16
+16
+18
+6
+18
+20
+18
+18
+13
+13
+18
+16
+13
+12
+14
+14
+13
+15
+20
+16
+11
+13
+19
+6
+6
+16
+16
+16
+11
+18
+11
+15
+17
+11
+13
+19
+20
+6
+13
+6
+13
+14
+18
+6
+17
+16
+12
+21
+16
+17
+17
+16
+16
+13
+6
+21
+15
+13
+14
+16
+20
+11
+13
+16
+15
+18
+13
+13
+12
+15
+14
+16
+16
+14
+6
+17
+6
+17
+16
+13
+16
+6
+6
+12
+16
+15
+16
+15
+20
+16
+19
+6
+6
+17
+14
+15
+16
+16
+13
+11
+18
+11
+14
+17
+16
+13
+6
+13
+18
+11
+17
+11
+15
+18
+17
+6
+14
+14
+13
+18
+6
+16
+17
+11
+16
+16
+14
+16
+18
+18
+16
+14
+15
+21
+14
+15
+6
+12
+16
+11
+14
+12
+13
+14
+14
+20
+18
+11
+6
+15
+6
+6
+14
+13
+16
+17
+18
+15
+15
+15
+17
+11
+16
+11
+11
+16
+16
+15
+14
+23
+12
+12
+14
+11
+16
+14
+21
+15
+13
+18
+11
+12
+14
+16
+11
+16
+20
+13
+12
+6
+16
+13
+16
+13
+17
+6
+6
+15
+15
+16
+14
+15
+14
+6
+18
+14
+15
+13
+13
+14
+16
+12
+6
+15
+16
+12
+15
+17
+12
+6
+6
+17
+15
+16
+6
+15
+12
+16
+12
+13
+6
+18
+6
+16
+13
+18
+13
+16
+6
+13
+21
+11
+12
+14
+14
+15
+12
+15
+16
+11
+11
+17
+11
+19
+11
+16
+13
+17
+6
+13
+17
+14
+5
+13
+16
+21
+16
+18
+16
+13
+16
+6
+18
+13
+15
+15
+13
+18
+13
+14
+14
+6
+18
+11
+18
+17
+14
+16
+16
+13
+12
+14
+13
+20
+16
+17
+14
+15
+15
+6
+16
+18
+20
+6
+19
+6
+14
+16
+11
+13
+13
+16
+6
+16
+19
+16
+17
+18
+21
+20
+21
+14
+13
+6
+14
+13
+15
+6
+11
+18
+16
+21
+18
+13
+20
+6
+17
+13
+17
+17
+13
+17
+13
+16
+14
+13
+6
+13
+6
+11
+19
+14
+17
+12
+16
+17
+15
+6
+15
+11
+13
+17
+15
+12
+20
+16
+14
+17
+13
+14
+15
+13
+6
+14
+6
+16
+16
+6
+15
+16
+17
+21
+12
+13
+15
+12
+12
+16
+16
+18
+15
+13
+11
+16
+15
+12
+18
+13
+13
+12
+15
+6
+16
+14
+21
+18
+13
+11
+12
+16
+6
+17
+15
+17
+16
+13
+15
+20
+12
+12
+16
+12
+15
+13
+18
+6
+16
+13
+13
+13
+19
+16
+16
+18
+17
+14
+16
+17
+15
+6
+16
+14
+17
+12
+15
+16
+12
+16
+16
+17
+6
+16
+15
+15
+16
+16
+6
+16
+17
+13
+16
+12
+18
+6
+14
+16
+16
+15
+6
+6
+16
+15
+11
+17
+11
+17
+6
+16
+14
+16
+14
+15
+16
+16
+15
+15
+16
+14
+6
+16
+16
+17
+13
+15
+17
+11
+15
+13
+18
+19
+13
+6
+16
+13
+11
+17
+14
+18
+13
+17
+14
+13
+14
+14
+6
+14
+12
+16
+11
+18
+15
+13
+16
+14
+16
+6
+15
+6
+13
+13
+20
+18
+6
+20
+6
+16
+19
+21
+14
+13
+13
+13
+18
+6
+11
+16
+14
+12
+20
+14
+18
+13
+18
+13
+6
+20
+14
+14
+6
+14
+16
+18
+16
+17
+15
+15
+16
+14
+6
+16
+15
+15
+18
+13
+13
+12
+13
+12
+18
+16
+6
+14
+6
+16
+17
+11
+12
+6
+15
+6
+13
+13
+16
+13
+16
+6
+14
+11
+11
+12
+15
+12
+11
+17
+13
+13
+6
+18
+11
+17
+17
+18
+14
+16
+17
+18
+16
+17
+17
+15
+6
+16
+15
+13
+11
+6
+12
+6
+13
+14
+6
+6
+16
+16
+16
+15
+16
+17
+13
+15
+14
+16
+6
+6
+14
+6
+16
+13
+11
+13
+12
+15
+13
+18
+17
+16
+18
+12
+13
+6
+14
+15
+16
+6
+13
+17
+20
+11
+16
+11
+23
+6
+6
+14
+11
+16
+17
+13
+12
+6
+13
+16
+17
+6
+16
+17
+16
+16
+11
+12
+6
+13
+11
+16
+13
+16
+18
+6
+16
+11
+16
+18
+20
+13
+16
+12
+6
+13
+13
+23
+17
+13
+12
+13
+14
+16
+6
+16
+14
+13
+15
+11
+12
+17
+11
+14
+6
+13
+14
+17
+6
+16
+13
+16
+15
+20
+18
+6
+21
+11
+13
+16
+12
+16
+18
+16
+16
+13
+5
+6
+16
+12
+17
+6
+15
+13
+6
+15
+6
+17
+21
+16
+17
+6
+11
+6
+15
+11
+13
+16
+6
+15
+17
+15
+13
+15
+6
+15
+16
+12
+6
+13
+11
+6
+6
+17
+6
+16
+14
+18
+13
+16
+17
+18
+6
+6
+18
+6
+13
+20
+14
+11
+16
+13
+16
+13
+16
+13
+16
+6
+16
+14
+18
+12
+14
+14
+15
+13
+14
+18
+16
+15
+16
+13
+15
+16
+11
+16
+17
+6
+15
+15
+13
+13
+6
+16
+17
+14
+15
+13
+14
+14
+16
+14
+15
+16
+15
+13
+14
+6
+16
+17
+15
+16
+14
+13
+13
+14
+6
+11
+15
+18
+13
+6
+16
+14
+14
+16
+12
+15
+17
+13
+13
+6
+6
+15
+11
+16
+15
+17
+12
+18
+14
+17
+14
+13
+15
+13
+17
+11
+16
+14
+12
+19
+16
+12
+6
+13
+13
+16
+6
+14
+14
+21
+14
+12
+15
+14
+6
+13
+12
+14
+18
+15
+12
+21
+20
+15
+13
+15
+13
+19
+11
+17
+18
+18
+12
+6
+13
+6
+6
+17
+11
+16
+18
+14
+15
+6
+12
+11
+14
+12
+16
+16
+13
+20
+16
+15
+12
+17
+13
+15
+15
+13
+11
+15
+18
+15
+6
+20
+13
+12
+15
+14
+18
+6
+6
+15
+6
+12
+11
+15
+16
+12
+13
+16
+21
+14
+16
+13
+12
+15
+14
+14
+12
+15
+13
+11
+15
+16
+6
+15
+17
+16
+6
+13
+13
+16
+18
+16
+18
+6
+14
+21
+6
+15
+16
+14
+13
+15
+12
+16
+12
+16
+6
+18
+6
+14
+14
+6
+17
+12
+6
+16
+19
+15
+15
+12
+6
+18
+15
+18
+12
+21
+6
+18
+18
+13
+11
+16
+13
+17
+15
+6
+15
+13
+21
+13
+12
+11
+14
+6
+12
+6
+13
+14
+15
+13
+13
+17
+13
+14
+13
+20
+15
+16
+16
+16
+18
+16
+14
+13
+18
+12
+11
+17
+17
+11
+17
+11
+6
+13
+18
+11
+12
+6
+11
+16
+13
+6
+16
+15
+17
+11
+13
+13
+18
+6
+15
+16
+13
+18
+15
+13
+14
+13
+14
+16
+6
+18
+17
+16
+14
+13
+6
+17
+12
+17
+6
+11
+14
+6
+13
+15
+12
+17
+6
+14
+15
+12
+18
+13
+16
+18
+6
+12
+13
+13
+15
+17
+16
+11
+18
+15
+12
+16
+14
+21
+14
+21
+19
+15
+13
+15
+16
+13
+11
+18
+15
+18
+18
+13
+20
+12
+19
+14
+18
+13
+16
+14
+15
+15
+15
+14
+21
+17
+13
+6
+16
+6
+11
+21
+17
+17
+13
+6
+18
+16
+14
+13
+15
+12
+15
+16
+14
+18
+14
+6
+11
+15
+14
+16
+14
+19
+20
+20
+15
+6
+13
+18
+6
+18
+18
+18
+12
+6
+15
+6
+6
+12
+14
+18
+14
+15
+6
+14
+18
+18
+15
+17
+16
+6
+13
+17
+15
+16
+13
+19
+13
+15
+18
+18
+15
+6
+18
+6
+14
+17
+15
+6
+15
+16
+12
+17
+11
+16
+6
+14
+16
+11
+17
+13
+16
+17
+12
+23
+14
+16
+16
+16
+14
+11
+12
+13
+14
+6
+6
+11
+16
+15
+14
+15
+6
+15
+6
+17
+13
+11
+15
+15
+20
+15
+13
+13
+14
+6
+6
+6
+17
+13
+14
+11
+14
+6
+16
+6
+14
+18
+11
+14
+18
+17
+16
+16
+16
+16
+18
+16
+11
+6
+6
+16
+14
+14
+12
+6
+6
+12
+15
+6
+11
+12
+6
+21
+17
+13
+11
+15
+13
+16
+6
+15
+18
+6
+11
+15
+19
+13
+6
+16
+14
+14
+13
+13
+14
+20
+13
+11
+12
+6
+15
+6
+16
+6
+16
+15
+14
+15
+17
+18
+11
+6
+11
+16
+21
+15
+19
+13
+6
+12
+18
+13
+13
+6
+14
+16
+14
+13
+19
+16
+15
+20
+14
+13
+13
+18
+13
+18
+16
+6
+11
+14
+21
+12
+18
+14
+6
+6
+13
+6
+20
+16
+12
+17
+20
+18
+16
+16
+13
+14
+11
+6
+16
+19
+14
+15
+18
+15
+13
+13
+14
+16
+11
+6
+6
+17
+17
+6
+18
+14
+16
+14
+6
+14
+12
+11
+13
+13
+14
+17
+11
+6
+17
+18
+11
+19
+18
+21
+11
+13
+14
+17
+12
+12
+13
+18
+6
+18
+12
+13
+6
+6
+13
+20
+6
+18
+6
+14
+18
+6
+17
+6
+14
+15
+6
+15
+6
+6
+18
+6
+15
+16
+18
+12
+18
+6
+16
+12
+18
+17
+12
+15
+16
+16
+12
+12
+6
+6
+13
+6
+13
+15
+12
+14
+6
+6
+14
+11
+13
+17
+15
+16
+14
+12
+14
+16
+13
+18
+13
+15
+13
+17
+16
+17
+12
+14
+11
+19
+17
+15
+6
+18
+15
+12
+16
+19
+12
+12
+13
+13
+19
+13
+6
+6
+11
+13
+6
+14
+14
+6
+16
+15
+14
+16
+11
+11
+18
+16
+14
+14
+15
+16
+12
+12
+20
+6
+18
+13
+6
+6
+11
+15
+12
+16
+23
+6
+13
+14
+15
+18
+13
+18
+12
+14
+15
+16
+18
+11
+16
+14
+12
+18
+5
+14
+6
+16
+20
+14
+6
+13
+12
+14
+14
+13
+15
+15
+16
+12
+6
+13
+14
+16
+14
+16
+18
+18
+12
+13
+17
+18
+13
+12
+13
+21
+15
+16
+16
+14
+11
+15
+16
+11
+15
+13
+14
+17
+20
+6
+15
+6
+14
+15
+16
+18
+20
+15
+13
+14
+18
+19
+12
+17
+13
+14
+16
+15
+18
+12
+6
+6
+15
+16
+18
+6
+12
+16
+6
+17
+11
+12
+6
+6
+16
+14
+17
+17
+6
+13
+16
+6
+15
+11
+12
+15
+14
+15
+18
+17
+6
+13
+16
+11
+16
+6
+6
+13
+6
+17
+15
+15
+6
+17
+14
+11
+14
+14
+18
+16
+18
+11
+17
+14
+11
+17
+12
+13
+21
+13
+6
+13
+17
+16
+11
+15
+18
+14
+13
+11
+18
+14
+6
+13
+15
+6
+11
+17
+15
+17
+16
+11
+13
+21
+16
+16
+13
+6
+17
+6
+14
+20
+18
+15
+6
+13
+17
+17
+13
+6
+18
+16
+19
+6
+16
+15
+18
+16
+6
+15
+13
+6
+6
+12
+15
+18
+16
+14
+15
+14
+16
+13
+15
+17
+6
+13
+13
+16
+20
+13
+16
+11
+18
+13
+6
+13
+13
+21
+13
+6
+18
+18
+16
+16
+6
+16
+13
+11
+13
+14
+6
+13
+15
+13
+6
+13
+13
+17
+11
+6
+13
+14
+13
+15
+13
+20
+6
+16
+6
+14
+6
+11
+6
+14
+12
+12
+17
+15
+15
+6
+6
+15
+13
+16
+13
+15
+14
+16
+14
+16
+15
+14
+13
+17
+17
+15
+13
+15
+13
+11
+18
+16
+13
+6
+17
+17
+17
+14
+11
+15
+15
+19
+19
+11
+13
+15
+14
+6
+6
+17
+12
+12
+6
+13
+6
+13
+15
+17
+6
+17
+6
+12
+13
+6
+17
+13
+16
+14
+13
+16
+13
+14
+13
+12
+18
+11
+18
+17
+20
+13
+13
+13
+14
+21
+18
+12
+14
+18
+15
+14
+15
+15
+18
+15
+15
+11
+13
+13
+13
+6
+6
+6
+13
+18
+11
+13
+16
+6
+13
+14
+12
+14
+15
+15
+15
+15
+13
+21
+16
+14
+12
+17
+16
+15
+11
+11
+16
+16
+19
+13
+18
+16
+6
+6
+15
+11
+13
+17
+15
+19
+17
+15
+14
+14
+16
+16
+19
+17
+18
+17
+13
+15
+17
+18
+15
+11
+15
+13
+16
+12
+6
+16
+13
+11
+16
+17
+17
+14
+21
+16
+11
+6
+6
+17
+6
+12
+17
+14
+6
+17
+6
+13
+12
+6
+6
+15
+6
+16
+12
+15
+12
+6
+13
+13
+11
+15
+21
+6
+23
+6
+11
+18
+20
+13
+14
+18
+13
+18
+17
+14
+13
+16
+13
+13
+6
+16
+16
+6
+13
+21
+15
+16
+18
+15
+15
+13
+18
+11
+15
+17
+6
+6
+15
+16
+6
+16
+6
+18
+14
+17
+15
+16
+6
+12
+13
+16
+18
+15
+11
+13
+6
+15
+15
+13
+13
+6
+18
+6
+11
+12
+14
+14
+18
+18
+6
+14
+17
+12
+6
+16
+15
+16
+12
+6
+12
+13
+6
+16
+17
+18
+18
+17
+13
+21
+12
+14
+16
+18
+11
+16
+6
+6
+12
+16
+16
+6
+13
+13
+12
+14
+14
+18
+16
+14
+16
+12
+17
+6
+13
+13
+13
+12
+19
+6
+15
+17
+16
+5
+14
+13
+14
+13
+17
+17
+6
+6
+13
+11
+6
+17
+18
+16
+11
+11
+13
+16
+16
+11
+16
+6
+18
+14
+17
+13
+11
+13
+11
+16
+14
+15
+13
+13
+6
+14
+21
+18
+18
+17
+6
+16
+16
+14
+12
+12
+6
+15
+14
+16
+16
+15
+6
+15
+15
+17
+11
+6
+17
+16
+21
+16
+13
+13
+14
+16
+6
+19
+16
+12
+13
+12
+11
+19
+16
+13
+17
+16
+12
+16
+12
+13
+6
+6
+11
+13
+11
+6
+13
+14
+11
+13
+12
+13
+13
+16
+15
+14
+15
+17
+16
+16
+16
+6
+16
+15
+13
+17
+12
+16
+16
+17
+6
+15
+11
+13
+14
+16
+18
+14
+6
+11
+17
+17
+18
+18
+17
+17
+15
+17
+12
+17
+13
+14
+16
+18
+6
+16
+16
+18
+20
+14
+17
+17
+15
+11
+12
+6
+6
+18
+12
+16
+12
+19
+6
+16
+15
+6
+11
+13
+13
+16
+6
+6
+16
+11
+13
+13
+20
+17
+17
+18
+12
+17
+14
+15
+6
+14
+20
+12
+6
+16
+11
+13
+6
+17
+16
+13
+12
+11
+13
+16
+6
+16
+14
+18
+14
+12
+15
+13
+16
+13
+12
+15
+14
+15
+15
+14
+12
+17
+17
+14
+12
+6
+18
+6
+15
+15
+16
+12
+6
+16
+15
+18
+15
+16
+16
+15
+6
+15
+16
+12
+11
+17
+16
+14
+11
+15
+16
+17
+21
+15
+12
+14
+13
+6
+15
+14
+15
+15
+17
+16
+18
+17
+17
+18
+6
+17
+14
+6
+16
+12
+18
+13
+13
+16
+11
+18
+16
+15
+15
+6
+16
+6
+16
+19
+16
+21
+16
+17
+15
+18
+16
+12
+15
+12
+16
+6
+11
+13
+16
+13
+6
+6
+12
+13
+18
+13
+18
+16
+16
+13
+16
+21
+14
+16
+11
+11
+14
+17
+13
+15
+11
+13
+12
+6
+18
+13
+12
+14
+17
+14
+11
+13
+11
+17
+12
+16
+6
+6
+6
+18
+11
+13
+6
+17
+16
+12
+13
+13
+13
+17
+11
+13
+17
+17
+18
+6
+16
+17
+16
+15
+16
+20
+18
+18
+6
+16
+16
+17
+12
+16
+17
+19
+6
+12
+14
+15
+12
+11
+15
+18
+16
+14
+12
+17
+13
+18
+19
+20
+17
+14
+6
+6
+12
+6
+12
+6
+14
+17
+16
+11
+13
+16
+16
+14
+13
+12
+18
+16
+13
+16
+15
+6
+13
+16
+14
+13
+6
+12
+11
+16
+12
+14
+17
+16
+16
+17
+20
+14
+13
+16
+13
+18
+17
+19
+13
+18
+11
+6
+6
+18
+13
+14
+11
+12
+16
+19
+12
+12
+19
+6
+15
+13
+6
+16
+16
+15
+6
+16
+14
+21
+17
+12
+16
+6
+14
+14
+15
+18
+14
+6
+19
+19
+12
+13
+14
+21
+16
+18
+17
+11
+16
+18
+18
+13
+5
+6
+13
+18
+6
+11
+6
+13
+14
+6
+19
+6
+14
+6
+13
+6
+17
+18
+15
+12
+11
+13
+11
+16
+16
+15
+13
+14
+12
+16
+13
+16
+17
+13
+16
+17
+13
+16
+6
+15
+19
+16
+11
+18
+11
+16
+6
+12
+13
+11
+15
+17
+16
+18
+18
+18
+17
+13
+12
+17
+14
+12
+15
+11
+15
+13
+17
+16
+15
+13
+6
+16
+17
+13
+16
+13
+17
+6
+11
+16
+18
+14
+11
+6
+18
+11
+11
+11
+12
+6
+11
+6
+13
+17
+11
+11
+21
+17
+17
+17
+16
+18
+20
+17
+15
+19
+18
+12
+11
+14
+6
+16
+6
+13
+15
+12
+17
+16
+15
+13
+16
+13
+16
+13
+14
+17
+13
+13
+11
+16
+11
+14
+16
+12
+17
+15
+18
+17
+13
+11
+16
+17
+18
+15
+17
+16
+16
+18
+15
+16
+12
+16
+13
+15
+16
+21
+18
+11
+15
+6
+14
+11
+17
+13
+13
+20
+13
+19
+6
+16
+20
+17
+6
+17
+17
+11
+19
+18
+6
+21
+14
+12
+21
+16
+15
+11
+17
+15
+17
+12
+6
+6
+6
+18
+12
+14
+6
+14
+15
+18
+12
+16
+16
+14
+16
+16
+16
+17
+15
+18
+17
+19
+6
+13
+16
+14
+14
+11
+19
+16
+14
+16
+18
+17
+12
+13
+15
+16
+13
+13
+17
+17
+13
+20
+15
+16
+11
+13
+6
+6
+12
+12
+13
+19
+20
+14
+6
+17
+11
+17
+13
+11
+13
+11
+11
+6
+16
+11
+6
+12
+16
+16
+13
+16
+6
+13
+12
+6
+14
+16
+13
+19
+14
+11
+19
+18
+12
+13
+6
+13
+6
+14
+15
+13
+18
+16
+13
+13
+18
+18
+11
+6
+6
+19
+14
+21
+13
+18
+11
+12
+14
+12
+6
+16
+15
+18
+13
+21
+13
+14
+11
+14
+13
+12
+16
+14
+6
+12
+21
+14
+11
+18
+11
+18
+6
+15
+14
+17
+11
+16
+16
+14
+12
+12
+12
+16
+18
+16
+13
+14
+17
+13
+6
+6
+6
+15
+13
+17
+21
+6
+14
+11
+11
+6
+5
+15
+6
+12
+13
+20
+15
+11
+6
+12
+18
+13
+16
+16
+16
+13
+12
+6
+20
+6
+17
+16
+17
+15
+17
+6
+14
+14
+6
+17
+12
+18
+16
+13
+18
+17
+12
+12
+13
+17
+6
+6
+6
+11
+15
+15
+18
+13
+18
+19
+11
+15
+11
+16
+6
+11
+16
+16
+6
+16
+18
+19
+20
+6
+13
+17
+11
+18
+18
+14
+11
+17
+15
+16
+14
+12
+13
+16
+14
+6
+13
+16
+14
+11
+16
+18
+19
+13
+18
+14
+15
+16
+15
+17
+14
+15
+17
+12
+13
+15
+12
+14
+16
+12
+17
+14
+19
+16
+19
+16
+15
+17
+14
+14
+21
+12
+16
+15
+16
+6
+15
+12
+19
+18
+14
+18
+6
+17
+12
+12
+12
+16
+6
+16
+12
+17
+21
+18
+11
+16
+11
+20
+17
+6
+17
+16
+14
+16
+18
+17
+11
+12
+11
+17
+13
+18
+20
+17
+11
+11
+17
+16
+11
+15
+6
+11
+17
+15
+13
+16
+13
+16
+12
+16
+16
+14
+15
+16
+6
+18
+19
+14
+18
+6
+11
+15
+6
+16
+18
+14
+16
+11
+16
+6
+14
+16
+18
+17
+11
+11
+15
+20
+11
+13
+13
+6
+6
+12
+14
+6
+17
+16
+16
+11
+15
+17
+12
+14
+12
+12
+6
+11
+17
+12
+11
+11
+18
+18
+19
+20
+13
+14
+6
+19
+6
+14
+13
+6
+13
+6
+11
+15
+14
+18
+16
+15
+13
+14
+16
+18
+6
+6
+17
+18
+18
+15
+14
+16
+15
+11
+13
+16
+18
+11
+12
+11
+11
+16
+18
+15
+18
+16
+18
+16
+15
+6
+16
+13
+20
+13
+16
+13
+19
+12
+11
+6
+17
+11
+19
+17
+15
+16
+6
+16
+18
+11
+6
+17
+11
+11
+15
+11
+12
+18
+17
+11
+21
+12
+18
+18
+16
+15
+16
+16
+11
+6
+6
+14
+6
+21
+15
+12
+13
+18
+16
+15
+17
+11
+14
+6
+13
+13
+6
+18
+21
+21
+21
+18
+16
+11
+18
+18
+13
+12
+19
+13
+14
+18
+18
+13
+16
+18
+18
+12
+11
+18
+20
+15
+14
+15
+17
+16
+16
+6
+12
+14
+18
+17
+18
+17
+13
+15
+16
+13
+6
+6
+13
+18
+17
+13
+12
+16
+17
+12
+19
+13
+12
+6
+11
+12
+18
+11
+15
+18
+12
+6
+13
+6
+13
+15
+12
+17
+15
+12
+13
+21
+11
+6
+11
+6
+17
+6
+6
+12
+12
+16
+15
+14
+18
+11
+6
+6
+16
+17
+6
+13
+13
+13
+12
+18
+11
+13
+18
+16
+14
+13
+23
+18
+6
+18
+11
+11
+13
+16
+14
+11
+11
+14
+15
+17
+6
+6
+17
+18
+13
+11
+14
+13
+12
+11
+19
+15
+12
+6
+6
+11
+6
+14
+16
+6
+16
+15
+18
+18
+11
+6
+14
+11
+12
+12
+18
+15
+13
+12
+15
+16
+13
+18
+15
+6
+11
+12
+17
+6
+15
+16
+15
+18
+17
+16
+18
+11
+6
+6
+13
+16
+17
+13
+12
+6
+15
+20
+12
+13
+11
+6
+14
+6
+16
+18
+17
+16
+17
+17
+19
+13
+13
+13
+6
+16
+13
+6
+16
+13
+6
+13
+20
+6
+18
+6
+15
+13
+11
+17
+6
+15
+14
+13
+15
+11
+17
+15
+14
+17
+11
+17
+12
+12
+12
+11
+16
+13
+13
+13
+18
+13
+18
+6
+11
+15
+17
+15
+19
+13
+12
+18
+13
+12
+12
+14
+12
+15
+16
+17
+19
+21
+16
+13
+20
+6
+6
+11
+15
+14
+18
+17
+14
+14
+13
+14
+11
+16
+6
+13
+13
+6
+15
+17
+13
+6
+21
+18
+18
+13
+16
+13
+6
+16
+13
+6
+17
+11
+16
+11
+15
+14
+6
+21
+17
+17
+16
+12
+6
+6
+13
+14
+6
+13
+12
+6
+18
+14
+18
+20
+14
+16
+13
+12
+14
+16
+6
+12
+16
+17
+18
+17
+12
+15
+20
+21
+6
+6
+18
+14
+12
+11
+15
+14
+18
+15
+11
+16
+6
+18
+13
+14
+17
+6
+15
+11
+11
+14
+6
+18
+15
+17
+17
+15
+17
+14
+13
+13
+15
+13
+17
+12
+12
+17
+17
+14
+16
+20
+21
+14
+18
+15
+13
+6
+15
+16
+17
+20
+6
+6
+18
+13
+11
+17
+16
+15
+12
+18
+12
+21
+15
+16
+14
+16
+6
+11
+13
+20
+11
+21
+12
+12
+16
+16
+13
+15
+12
+16
+14
+6
+16
+13
+15
+16
+14
+16
+20
+16
+13
+12
+13
+20
+16
+6
+16
+16
+13
+12
+16
+12
+16
+11
+16
+11
+11
+16
+16
+6
+12
+16
+16
+18
+14
+17
+17
+16
+21
+12
+6
+6
+12
+13
+6
+15
+15
+16
+6
+15
+11
+15
+6
+16
+6
+17
+21
+17
+17
+16
+15
+16
+14
+16
+16
+6
+21
+16
+16
+18
+16
+16
+13
+20
+13
+12
+6
+16
+12
+15
+16
+21
+14
+12
+11
+11
+18
+18
+17
+16
+13
+6
+18
+6
+18
+16
+6
+17
+18
+13
+11
+15
+18
+18
+16
+16
+14
+15
+19
+13
+13
+11
+11
+16
+12
+20
+14
+13
+12
+16
+19
+13
+14
+18
+18
+17
+15
+12
+15
+12
+16
+6
+16
+14
+6
+13
+14
+17
+6
+12
+12
+18
+12
+11
+16
+13
+16
+16
+6
+16
+15
+13
+17
+17
+15
+17
+16
+11
+18
+16
+16
+11
+6
+17
+17
+16
+16
+17
+12
+15
+16
+12
+11
+17
+16
+17
+16
+16
+21
+16
+12
+6
+11
+12
+16
+16
+16
+18
+17
+16
+15
+12
+13
+6
+16
+6
+16
+17
+21
+13
+12
+17
+17
+18
+14
+15
+14
+17
+17
+21
+20
+20
+12
+16
+17
+14
+14
+16
+16
+6
+16
+11
+16
+16
+17
+17
+15
+13
+16
+16
+18
+18
+21
+11
+6
+11
+6
+14
+6
+17
+16
+16
+11
+17
+18
+11
+6
+6
+11
+14
+17
+14
+13
+11
+17
+13
+11
+12
+17
+6
+16
+18
+16
+11
+18
+13
+11
+20
+17
+17
+12
+18
+17
+15
+13
+18
+18
+12
+15
+6
+13
+17
+11
+6
+16
+6
+16
+11
+16
+12
+16
+17
+13
+20
+15
+18
+14
+11
+18
+6
+11
+21
+16
+16
+11
+18
+13
+12
+11
+6
+6
+14
+18
+6
+16
+13
+17
+6
+12
+6
+6
+17
+16
+15
+13
+6
+14
+15
+13
+14
+17
+14
+16
+16
+15
+16
+17
+20
+16
+16
+13
+21
+19
+18
+11
+14
+6
+6
+17
+17
+6
+17
+6
+6
+18
+13
+14
+11
+6
+12
+11
+14
+15
+6
+6
+16
+12
+16
+17
+13
+6
+6
+12
+6
+11
+16
+15
+13
+21
+6
+6
+12
+6
+6
+13
+6
+12
+16
+12
+6
+14
+16
+13
+6
+15
+11
+6
+13
+12
+16
+14
+12
+12
+12
+6
+11
+11
+12
+20
+6
+12
+13
+16
+18
+16
+6
+6
+13
+16
+6
+12
+13
+13
+16
+11
+6
+6
+17
+17
+6
+16
+20
+16
+6
+21
+6
+16
+17
+13
+19
+14
+6
+23
+5
+6
+11
+17
+16
+18
+11
+16
+17
+14
+6
+17
+20
+11
+21
+15
+6
+18
+18
+20
+11
+16
+17
+16
+16
+16
+16
+16
+6
+15
+11
+18
+6
+15
+6
+6
+16
+15
+16
+14
+14
+12
+12
+18
+16
+14
+14
+18
+16
+13
+18
+13
+13
+11
+13
+18
+11
+18
+17
+11
+11
+13
+13
+14
+11
+17
+12
+12
+11
+11
+15
+11
+18
+17
+14
+6
+15
+15
+16
+11
+18
+17
+11
+18
+16
+18
+13
+11
+16
+16
+14
+15
+17
+14
+12
+15
+17
+18
+15
+14
+15
+16
+17
+17
+17
+13
+6
+6
+6
+18
+18
+6
+18
+6
+16
+16
+18
+20
+14
+13
+18
+13
+16
+14
+12
+18
+13
+12
+13
+18
+16
+12
+11
+20
+12
+16
+11
+18
+6
+16
+15
+6
+12
+18
+6
+6
+16
+15
+16
+18
+14
+11
+14
+16
+15
+6
+15
+16
+6
+18
+20
+6
+16
+12
+12
+6
+13
+15
+12
+13
+18
+17
+15
+18
+11
+14
+16
+16
+6
+18
+11
+6
+11
+11
+11
+17
+13
+13
+16
+6
+16
+14
+11
+14
+6
+12
+16
+12
+11
+20
+6
+12
+16
+16
+18
+13
+11
+13
+15
+17
+18
+6
+14
+15
+12
+17
+12
+17
+16
+17
+13
+15
+12
+18
+14
+16
+21
+15
+17
+14
+12
+16
+21
+23
+11
+12
+17
+20
+13
+11
+17
+18
+16
+15
+6
+16
+17
+6
+18
+6
+13
+6
+19
+17
+13
+13
+13
+14
+12
+11
+16
+17
+11
+14
+17
+18
+16
+12
+19
+6
+18
+14
+13
+18
+13
+14
+18
+16
+15
+6
+6
+17
+12
+17
+6
+16
+6
+11
+17
+18
+13
+16
+14
+18
+19
+18
+6
+15
+18
+6
+13
+16
+18
+17
+13
+17
+18
+17
+12
+16
+6
+16
+16
+11
+6
+21
+11
+16
+15
+21
+13
+17
+16
+6
+15
+13
+17
+16
+18
+6
+20
+16
+13
+14
+12
+12
+17
+14
+14
+16
+18
+18
+16
+13
+17
+6
+18
+18
+14
+6
+16
+18
+15
+17
+12
+13
+15
+12
+18
+12
+16
+18
+16
+13
+6
+18
+18
+13
+18
+14
+18
+6
+12
+16
+15
+15
+11
+18
+12
+16
+16
+5
+16
+17
+11
+12
+15
+13
+11
+15
+18
+14
+14
+13
+16
+17
+16
+12
+15
+18
+16
+19
+17
+13
+14
+14
+13
+15
+6
+18
+12
+15
+23
+17
+18
+15
+18
+16
+11
+16
+16
+16
+15
+15
+18
+16
+16
+13
+15
+19
+6
+11
+15
+17
+16
+16
+13
+6
+15
+18
+21
+15
+16
+17
+18
+6
+11
+17
+18
+12
+12
+17
+16
+12
+18
+17
+12
+6
+15
+18
+11
+15
+12
+15
+14
+18
+17
+16
+11
+11
+15
+13
+20
+13
+16
+18
+16
+17
+14
+11
+20
+11
+15
+13
+20
+11
+18
+20
+6
+17
+16
+6
+17
+18
+18
+15
+13
+11
+12
+18
+16
+14
+14
+6
+18
+17
+16
+21
+11
+11
+6
+17
+11
+15
+12
+12
+17
+13
+12
+18
+16
+17
+18
+12
+18
+6
+16
+18
+13
+6
+15
+15
+12
+17
+6
+13
+15
+12
+18
+16
+14
+18
+16
+17
+16
+11
+14
+11
+13
+16
+14
+13
+12
+12
+11
+12
+16
+12
+17
+15
+17
+13
+17
+17
+16
+11
+13
+16
+19
+16
+16
+18
+6
+18
+6
+18
+15
+13
+15
+21
+6
+12
+6
+18
+16
+17
+13
+17
+12
+16
+16
+13
+12
+17
+18
+13
+14
+13
+17
+13
+15
+13
+18
+12
+17
+12
+16
+11
+16
+16
+15
+11
+18
+6
+15
+16
+6
+13
+15
+18
+13
+17
+20
+16
+12
+15
+16
+12
+12
+14
+17
+17
+20
+16
+17
+16
+17
+6
+17
+13
+6
+17
+13
+11
+14
+18
+16
+12
+14
+13
+16
+17
+18
+13
+15
+16
+18
+13
+6
+14
+17
+11
+11
+17
+6
+21
+6
+14
+17
+12
+16
+15
+19
+18
+6
+14
+12
+20
+12
+11
+15
+6
+6
+17
+18
+12
+6
+15
+18
+15
+12
+17
+6
+12
+17
+13
+11
+18
+11
+18
+16
+21
+13
+16
+12
+6
+16
+12
+11
+16
+16
+12
+20
+16
+18
+6
+21
+11
+18
+20
+6
+12
+18
+21
+17
+16
+14
+13
+6
+13
+18
+17
+11
+15
+6
+16
+6
+6
+13
+16
+20
+12
+12
+16
+18
+17
+14
+16
+18
+6
+17
+18
+12
+13
+15
+18
+20
+6
+17
+11
+12
+12
+18
+14
+18
+13
+11
+11
+11
+11
+11
+11
+18
+16
+16
+13
+18
+19
+17
+16
+6
+16
+12
+11
+19
+21
+17
+17
+17
+12
+5
+12
+16
+16
+13
+21
+12
+6
+16
+17
+18
+16
+12
+19
+19
+18
+11
+6
+16
+13
+11
+15
+16
+16
+16
+11
+6
+12
+11
+13
+18
+13
+18
+16
+16
+13
+13
+17
+12
+14
+15
+21
+16
+13
+18
+17
+6
+12
+12
+17
+13
+13
+15
+12
+14
+13
+17
+18
+12
+17
+13
+6
+18
+16
+13
+13
+12
+12
+13
+6
+17
+19
+17
+17
+17
+6
+18
+18
+12
+14
+11
+16
+15
+13
+16
+12
+11
+17
+14
+16
+12
+16
+12
+16
+16
+12
+13
+15
+15
+11
+13
+17
+6
+11
+16
+6
+11
+16
+16
+12
+17
+13
+13
+6
+21
+6
+19
+12
+14
+16
+18
+6
+14
+16
+6
+16
+18
+14
+16
+14
+16
+21
+12
+16
+18
+18
+6
+16
+11
+11
+12
+16
+16
+17
+6
+18
+12
+15
+16
+13
+18
+12
+17
+13
+13
+13
+16
+14
+20
+16
+15
+17
+16
+16
+6
+19
+6
+16
+11
+17
+15
+6
+11
+14
+17
+11
+11
+16
+12
+17
+18
+18
+17
+13
+18
+18
+14
+16
+14
+16
+14
+18
+16
+17
+19
+16
+14
+13
+14
+18
+15
+18
+12
+12
+21
+16
+15
+17
+13
+13
+15
+14
+20
+16
+20
+17
+18
+6
+18
+13
+18
+6
+16
+14
+19
+19
+16
+13
+17
+18
+15
+6
+17
+18
+12
+15
+13
+15
+6
+19
+6
+11
+16
+16
+16
+11
+14
+21
+16
+14
+16
+17
+13
+13
+15
+6
+13
+18
+11
+13
+18
+13
+15
+16
+11
+12
+21
+18
+15
+11
+13
+21
+21
+16
+13
+13
+18
+6
+13
+12
+13
+18
+18
+20
+17
+13
+13
+18
+12
+17
+18
+12
+18
+16
+6
+16
+19
+16
+16
+15
+12
+12
+6
+15
+14
+16
+14
+17
+16
+14
+6
+11
+6
+16
+12
+12
+12
+16
+6
+12
+12
+6
+6
+11
+15
+18
+21
+16
+19
+16
+21
+18
+12
+18
+17
+18
+16
+11
+6
+12
+6
+16
+19
+16
+11
+6
+13
+18
+14
+13
+19
+11
+12
+21
+11
+11
+11
+12
+13
+16
+21
+19
+6
+14
+21
+6
+16
+13
+17
+13
+17
+12
+17
+15
+14
+16
+6
+20
+13
+12
+11
+13
+18
+15
+6
+16
+17
+14
+11
+18
+11
+16
+14
+17
+16
+14
+15
+12
+12
+14
+15
+17
+13
+17
+13
+16
+13
+18
+15
+14
+6
+16
+6
+23
+18
+12
+16
+6
+11
+17
+15
+13
+13
+17
+17
+16
+12
+18
+17
+13
+6
+13
+13
+19
+13
+12
+16
+13
+17
+17
+13
+18
+15
+15
+11
+12
+11
+12
+6
+16
+16
+17
+18
+16
+17
+12
+11
+16
+18
+15
+13
+15
+16
+16
+16
+17
+16
+13
+11
+18
+16
+11
+12
+14
+16
+17
+16
+14
+11
+16
+14
+13
+6
+14
+18
+13
+14
+11
+6
+14
+16
+16
+14
+21
+21
+16
+17
+6
+16
+15
+20
+18
+13
+16
+15
+16
+16
+14
+16
+14
+14
+13
+13
+11
+14
+6
+17
+12
+13
+11
+13
+14
+13
+6
+19
+11
+11
+17
+6
+20
+12
+13
+14
+13
+18
+14
+18
+6
+6
+13
+16
+17
+11
+18
+11
+18
+16
+13
+20
+18
+18
+18
+17
+11
+16
+16
+17
+12
+16
+17
+19
+19
+18
+14
+17
+12
+16
+6
+19
+14
+17
+6
+13
+16
+16
+15
+14
+17
+16
+17
+17
+16
+12
+18
+15
+12
+17
+21
+14
+12
+15
+11
+11
+11
+13
+6
+16
+11
+12
+16
+6
+13
+16
+13
+18
+17
+15
+18
+16
+16
+15
+16
+11
+6
+12
+14
+13
+18
+16
+16
+12
+18
+11
+18
+17
+15
+15
+18
+18
+13
+12
+17
+18
+6
+13
+6
+13
+16
+12
+16
+12
+16
+16
+18
+14
+6
+16
+17
+13
+13
+15
+15
+12
+14
+16
+12
+14
+6
+15
+13
+16
+11
+20
+21
+17
+16
+20
+13
+16
+17
+6
+15
+16
+13
+16
+11
+11
+16
+13
+16
+12
+11
+18
+17
+15
+11
+15
+18
+12
+12
+15
+12
+15
+12
+13
+16
+12
+15
+17
+12
+13
+16
+20
+17
+20
+11
+16
+15
+20
+6
+6
+13
+12
+20
+17
+13
+6
+6
+18
+13
+16
+16
+18
+16
+13
+18
+13
+12
+12
+13
+14
+15
+21
+6
+11
+13
+16
+13
+11
+14
+12
+14
+15
+11
+21
+15
+13
+6
+20
+18
+12
+15
+20
+13
+20
+18
+6
+17
+14
+6
+21
+16
+6
+21
+16
+16
+18
+14
+18
+18
+13
+18
+13
+16
+19
+14
+20
+12
+16
+16
+14
+20
+16
+11
+21
+18
+12
+14
+11
+15
+17
+18
+12
+6
+18
+6
+17
+18
+11
+15
+16
+18
+11
+12
+11
+20
+20
+12
+17
+12
+17
+16
+17
+6
+16
+12
+18
+18
+11
+13
+15
+17
+15
+6
+18
+14
+11
+18
+21
+14
+18
+18
+13
+17
+14
+13
+16
+20
+14
+17
+16
+18
+16
+18
+6
+18
+13
+13
+12
+12
+18
+11
+19
+16
+14
+18
+16
+16
+20
+11
+15
+16
+6
+12
+16
+15
+12
+11
+16
+12
+14
+13
+14
+11
+11
+16
+18
+6
+19
+18
+13
+12
+14
+16
+18
+16
+13
+11
+19
+6
+11
+14
+17
+17
+19
+18
+16
+6
+17
+14
+12
+16
+16
+12
+21
+11
+18
+12
+16
+18
+13
+17
+14
+17
+18
+12
+6
+12
+11
+6
+16
+12
+17
+17
+6
+6
+13
+12
+11
+16
+17
+16
+13
+11
+6
+17
+12
+16
+15
+20
+12
+18
+13
+13
+13
+23
+16
+16
+14
+19
+12
+12
+15
+12
+6
+16
+16
+6
+11
+12
+16
+13
+12
+6
+23
+12
+18
+16
+21
+16
+16
+13
+15
+16
+12
+13
+6
+16
+18
+18
+14
+17
+6
+16
+16
+11
+13
+14
+13
+6
+14
+19
+13
+13
+16
+13
+13
+16
+15
+6
+16
+6
+6
+17
+21
+13
+19
+17
+16
+14
+15
+11
+13
+11
+17
+15
+16
+16
+6
+17
+12
+18
+11
+11
+11
+17
+13
+16
+16
+12
+18
+17
+6
+13
+16
+16
+16
+13
+6
+12
+14
+16
+18
+17
+18
+6
+18
+16
+12
+11
+16
+17
+13
+13
+17
+13
+16
+12
+19
+17
+6
+16
+14
+13
+13
+18
+13
+18
+18
+17
+16
+16
+16
+14
+16
+14
+14
+12
+14
+14
+5
+6
+6
+6
+16
+6
+16
+18
+20
+11
+12
+13
+16
+12
+13
+12
+16
+17
+16
+17
+14
+15
+18
+12
+6
+18
+21
+11
+13
+12
+14
+12
+20
+16
+16
+17
+18
+11
+6
+14
+12
+18
+21
+15
+18
+18
+16
+18
+13
+16
+20
+16
+12
+12
+12
+13
+6
+16
+16
+6
+11
+19
+16
+21
+16
+6
+18
+13
+13
+14
+14
+18
+11
+6
+16
+18
+20
+20
+12
+14
+16
+17
+6
+16
+17
+15
+18
+21
+13
+14
+14
+18
+13
+6
+13
+18
+6
+14
+18
+11
+6
+16
+11
+13
+16
+20
+13
+15
+6
+13
+11
+18
+12
+16
+6
+16
+12
+16
+17
+14
+16
+18
+5
+6
+18
+18
+16
+18
+12
+16
+16
+18
+15
+17
+13
+11
+16
+11
+6
+18
+18
+20
+11
+16
+11
+12
+16
+20
+14
+13
+6
+15
+17
+11
+6
+14
+6
+6
+16
+18
+17
+12
+13
+16
+18
+11
+17
+18
+6
+14
+11
+13
+16
+20
+19
+16
+18
+13
+16
+11
+6
+13
+13
+6
+16
+11
+16
+6
+13
+17
+11
+11
+17
+16
+18
+17
+14
+12
+18
+15
+6
+6
+19
+11
+17
+12
+12
+11
+16
+17
+14
+11
+16
+13
+21
+18
+17
+18
+15
+6
+16
+16
+16
+13
+20
+11
+16
+6
+6
+12
+16
+14
+19
+13
+16
+12
+19
+15
+11
+14
+15
+6
+18
+13
+6
+11
+6
+19
+17
+16
+12
+16
+15
+6
+21
+18
+14
+19
+17
+17
+6
+14
+17
+18
+18
+11
+12
+18
+12
+18
+6
+21
+16
+15
+16
+16
+16
+20
+16
+11
+17
+12
+15
+16
+17
+17
+14
+12
+6
+6
+13
+17
+16
+15
+11
+13
+11
+18
+16
+16
+18
+12
+6
+15
+16
+16
+18
+18
+16
+13
+13
+11
+12
+15
+17
+17
+16
+16
+6
+13
+6
+12
+11
+12
+16
+15
+16
+13
+15
+12
+6
+16
+16
+13
+12
+14
+15
+17
+17
+13
+12
+14
+16
+18
+12
+6
+13
+16
+16
+17
+12
+16
+14
+12
+6
+18
+6
+16
+12
+12
+12
+6
+21
+17
+17
+6
+12
+15
+18
+6
+6
+11
+15
+12
+16
+13
+16
+16
+18
+17
+16
+16
+17
+17
+16
+18
+16
+11
+11
+18
+16
+18
+17
+12
+18
+17
+15
+16
+18
+16
+17
+11
+11
+18
+13
+6
+13
+17
+11
+16
+16
+16
+12
+6
+14
+17
+15
+16
+13
+12
+6
+16
+16
+14
+14
+16
+14
+19
+16
+17
+12
+17
+16
+11
+15
+14
+16
+14
+16
+17
+12
+11
+12
+14
+15
+17
+18
+14
+16
+15
+14
+17
+15
+18
+11
+19
+17
+17
+17
+16
+13
+11
+16
+13
+15
+13
+20
+18
+13
+12
+20
+11
+17
+18
+11
+16
+18
+14
+6
+15
+16
+16
+16
+12
+16
+6
+16
+18
+16
+18
+14
+11
+11
+19
+17
+11
+12
+6
+13
+15
+19
+11
+11
+15
+11
+13
+16
+6
+16
+14
+13
+11
+18
+6
+12
+12
+6
+14
+20
+15
+13
+15
+17
+12
+17
+18
+12
+16
+11
+14
+16
+17
+13
+13
+16
+17
+16
+15
+6
+21
+13
+6
+13
+18
+18
+12
+11
+16
+19
+17
+12
+17
+11
+17
+13
+16
+14
+12
+16
+11
+12
+16
+18
+14
+17
+16
+15
+6
+6
+18
+14
+16
+17
+18
+17
+12
+16
+18
+16
+16
+11
+18
+16
+13
+21
+18
+18
+14
+12
+20
+18
+13
+18
+16
+17
+11
+18
+6
+16
+6
+13
+13
+6
+13
+16
+6
+11
+6
+17
+6
+12
+18
+18
+11
+16
+19
+14
+14
+18
+12
+18
+6
+16
+20
+15
+17
+6
+16
+18
+15
+17
+16
+13
+17
+17
+16
+14
+11
+17
+17
+12
+21
+13
+11
+16
+6
+17
+15
+11
+17
+14
+18
+13
+16
+11
+13
+20
+12
+20
+18
+13
+14
+19
+21
+17
+13
+13
+13
+16
+14
+11
+11
+16
+19
+18
+19
+21
+6
+6
+15
+18
+14
+16
+6
+6
+17
+17
+12
+17
+14
+16
+13
+11
+14
+12
+6
+16
+19
+16
+16
+17
+18
+14
+16
+21
+12
+11
+11
+6
+6
+16
+11
+13
+17
+15
+6
+13
+18
+16
+16
+11
+15
+18
+11
+23
+14
+15
+17
+12
+13
+13
+16
+6
+16
+17
+17
+16
+16
+13
+18
+11
+15
+16
+15
+18
+15
+16
+18
+12
+18
+13
+14
+17
+6
+17
+18
+13
+18
+13
+16
+11
+14
+12
+11
+15
+16
+13
+6
+14
+11
+16
+12
+12
+13
+18
+17
+12
+16
+12
+13
+15
+17
+16
+16
+14
+17
+15
+16
+16
+16
+13
+16
+16
+11
+11
+14
+16
+12
+19
+16
+6
+17
+13
+16
+18
+12
+6
+16
+13
+18
+14
+17
+16
+16
+17
+15
+11
+16
+18
+11
+11
+17
+6
+18
+14
+16
+12
+17
+16
+12
+6
+14
+20
+13
+20
+20
+6
+17
+11
+18
+12
+12
+16
+16
+17
+11
+20
+11
+18
+14
+20
+6
+16
+18
+20
+19
+6
+21
+15
+12
+16
+21
+17
+15
+6
+12
+17
+11
+16
+15
+17
+13
+16
+14
+16
+16
+16
+14
+11
+14
+17
+11
+17
+14
+6
+17
+12
+12
+16
+19
+20
+18
+16
+13
+16
+6
+18
+20
+14
+16
+11
+6
+6
+6
+13
+13
+12
+17
+17
+16
+18
+16
+11
+16
+12
+18
+15
+15
+6
+13
+17
+17
+20
+11
+11
+21
+17
+17
+13
+14
+18
+13
+6
+18
+13
+16
+21
+12
+12
+16
+18
+11
+18
+19
+16
+16
+6
+19
+13
+6
+14
+12
+13
+18
+12
+18
+16
+11
+12
+15
+12
+13
+16
+6
+16
+21
+18
+15
+18
+6
+13
+18
+20
+12
+16
+11
+19
+18
+17
+6
+6
+17
+6
+14
+15
+21
+18
+13
+12
+6
+17
+20
+11
+6
+11
+20
+13
+16
+11
+17
+13
+16
+16
+13
+14
+17
+16
+11
+17
+15
+6
+21
+16
+18
+11
+16
+16
+15
+17
+17
+16
+13
+6
+12
+11
+12
+14
+11
+15
+11
+16
+21
+19
+13
+17
+14
+16
+12
+12
+13
+21
+14
+21
+16
+17
+17
+6
+17
+13
+13
+11
+13
+16
+6
+18
+19
+6
+12
+13
+16
+16
+13
+13
+14
+11
+6
+18
+19
+15
+15
+6
+11
+15
+14
+18
+17
+6
+12
+16
+18
+12
+20
+14
+20
+19
+16
+20
+13
+16
+16
+11
+12
+19
+18
+11
+18
+15
+18
+21
+6
+12
+16
+17
+19
+16
+18
+19
+12
+11
+12
+16
+16
+12
+16
+13
+14
+16
+6
+6
+13
+14
+12
+15
+17
+11
+16
+6
+16
+14
+14
+14
+17
+13
+15
+15
+17
+12
+16
+6
+12
+11
+6
+11
+14
+13
+16
+6
+5
+17
+11
+11
+15
+6
+14
+18
+16
+15
+13
+11
+15
+14
+21
+18
+20
+11
+13
+13
+12
+16
+6
+12
+6
+13
+16
+6
+16
+15
+16
+16
+15
+11
+12
+12
+17
+13
+6
+16
+12
+20
+12
+6
+16
+18
+11
+6
+16
+17
+11
+15
+12
+6
+15
+16
+12
+21
+11
+13
+16
+17
+14
+13
+17
+11
+13
+18
+18
+12
+18
+18
+6
+13
+16
+11
+16
+16
+15
+21
+16
+12
+6
+12
+11
+13
+21
+13
+12
+14
+17
+16
+17
+13
+6
+14
+17
+12
+6
+18
+16
+18
+18
+14
+13
+11
+16
+12
+16
+17
+11
+16
+17
+13
+16
+11
+6
+16
+16
+16
+16
+13
+15
+16
+11
+15
+18
+18
+16
+17
+6
+18
+17
+16
+16
+6
+21
+20
+18
+16
+16
+18
+17
+12
+11
+16
+17
+15
+15
+21
+18
+16
+13
+16
+17
+18
+11
+16
+6
+14
+11
+16
+6
+11
+16
+13
+12
+21
+21
+13
+21
+17
+16
+6
+16
+16
+17
+18
+17
+16
+16
+20
+16
+12
+14
+21
+18
+12
+16
+20
+18
+18
+12
+14
+16
+15
+16
+19
+6
+13
+16
+14
+6
+14
+16
+13
+17
+16
+16
+13
+16
+6
+15
+11
+16
+16
+18
+21
+16
+17
+11
+17
+16
+15
+18
+17
+15
+18
+14
+12
+6
+6
+14
+12
+16
+18
+15
+6
+17
+16
+13
+16
+6
+18
+6
+16
+16
+11
+12
+6
+17
+19
+15
+14
+14
+13
+18
+16
+11
+6
+13
+11
+15
+18
+16
+16
+16
+18
+14
+16
+16
+11
+13
+15
+16
+15
+18
+11
+16
+20
+11
+19
+16
+13
+12
+11
+17
+16
+13
+13
+13
+14
+11
+16
+14
+6
+6
+6
+19
+11
+19
+11
+16
+16
+13
+16
+14
+18
+19
+12
+13
+17
+6
+16
+13
+15
+18
+18
+13
+15
+14
+6
+19
+17
+18
+18
+21
+16
+11
+16
+16
+6
+11
+12
+17
+18
+11
+11
+16
+16
+16
+20
+17
+18
+18
+18
+16
+16
+12
+17
+18
+15
+20
+19
+12