diff --git a/StorageFurniture/45243/hoi_trajectories/handle_4/trajectory.json b/StorageFurniture/45243/hoi_trajectories/handle_4/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..e440354ed95a49382e657bd63c371f1bad4412e1
--- /dev/null
+++ b/StorageFurniture/45243/hoi_trajectories/handle_4/trajectory.json
@@ -0,0 +1,21842 @@
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diff --git a/StorageFurniture/45243/hoi_trajectories/handle_5/trajectory.json b/StorageFurniture/45243/hoi_trajectories/handle_5/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..a14087bd3cf60aee21a492b4cb3e5885d9c3e1f0
--- /dev/null
+++ b/StorageFurniture/45243/hoi_trajectories/handle_5/trajectory.json
@@ -0,0 +1,21842 @@
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diff --git a/StorageFurniture/45243/hoi_trajectories/handle_6/trajectory.json b/StorageFurniture/45243/hoi_trajectories/handle_6/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..c08dbe837b94fe70a2a176be5763ccd5b9ab496f
--- /dev/null
+++ b/StorageFurniture/45243/hoi_trajectories/handle_6/trajectory.json
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diff --git a/StorageFurniture/45243/hoi_trajectories/handle_7/trajectory.json b/StorageFurniture/45243/hoi_trajectories/handle_7/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..09474648c421a914e1daa068051a1b24c6d75cd3
--- /dev/null
+++ b/StorageFurniture/45243/hoi_trajectories/handle_7/trajectory.json
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diff --git a/StorageFurniture/45261/hoi_trajectories/handle_6/trajectory.json b/StorageFurniture/45261/hoi_trajectories/handle_6/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c6b9b33bee0571e1d03f7a7101cd965d9ea30fa
--- /dev/null
+++ b/StorageFurniture/45261/hoi_trajectories/handle_6/trajectory.json
@@ -0,0 +1,21411 @@
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diff --git a/StorageFurniture/45261/hoi_trajectories/handle_7/trajectory.json b/StorageFurniture/45261/hoi_trajectories/handle_7/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..059420e1f3926e743f03462d34b983a03854be15
--- /dev/null
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diff --git a/StorageFurniture/45261/hoi_trajectories/handle_8/trajectory.json b/StorageFurniture/45261/hoi_trajectories/handle_8/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa3715283d76be7d6838eee77597558aba9380b2
--- /dev/null
+++ b/StorageFurniture/45261/hoi_trajectories/handle_8/trajectory.json
@@ -0,0 +1,21411 @@
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diff --git a/StorageFurniture/45261/hoi_trajectories/handle_9/trajectory.json b/StorageFurniture/45261/hoi_trajectories/handle_9/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..28ee62227d0cdbdc6daca78d1f4041edee95446f
--- /dev/null
+++ b/StorageFurniture/45261/hoi_trajectories/handle_9/trajectory.json
@@ -0,0 +1,21569 @@
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diff --git a/StorageFurniture/45261/partnet_mobility/.DS_Store b/StorageFurniture/45261/partnet_mobility/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5f574cc3ccc41cd298a86e6cff5b8fda5f5519c3
Binary files /dev/null and b/StorageFurniture/45261/partnet_mobility/.DS_Store differ
diff --git a/StorageFurniture/45261/partnet_mobility/bounding_box.json b/StorageFurniture/45261/partnet_mobility/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..40e1bdd645aad3b076c6e87c7856c50d032650c8
--- /dev/null
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\ No newline at end of file
diff --git a/StorageFurniture/45261/partnet_mobility/link_annotation_gapartnet.json b/StorageFurniture/45261/partnet_mobility/link_annotation_gapartnet.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd8cca363753c6a8c7a9986a6f5d74df1b7757f1
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diff --git a/StorageFurniture/45261/partnet_mobility/meta.json b/StorageFurniture/45261/partnet_mobility/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcff7c17fa9b4dc19bc04b271e06a22b713fafaa
--- /dev/null
+++ b/StorageFurniture/45261/partnet_mobility/meta.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/StorageFurniture/45261/partnet_mobility/mobility.urdf b/StorageFurniture/45261/partnet_mobility/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b6dd67bdf4452954eb8705e77cf11f764cf10689
--- /dev/null
+++ b/StorageFurniture/45261/partnet_mobility/mobility.urdf
@@ -0,0 +1,908 @@
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