Add files using upload-large-folder tool

.gitattributes

@@ -585,3 +585,6 @@ TrainSuite/cabinet_suite/StorageFurniture-46060-link_1-handle_3-joint_1-handlejo
 TrainSuite/cabinet_suite/StorageFurniture-46549-link_2-handle_2-joint_2-handlejoint_2/mobility_new.usd filter=lfs diff=lfs merge=lfs -text
 TrainSuite/cabinet_suite/StorageFurniture-47207-link_1-handle_3-joint_1-handlejoint_3/mobility_new.usd filter=lfs diff=lfs merge=lfs -text
 TrainSuite/cabinet_suite/StorageFurniture-40417-link_3-handle_3-joint_3-handlejoint_3/mobility_new.usd filter=lfs diff=lfs merge=lfs -text
+TrainSuite/cabinet_suite/StorageFurniture-47926-link_4-handle_4-joint_4-handlejoint_4/mobility_new.usd filter=lfs diff=lfs merge=lfs -text
+TrainSuite/cabinet_suite/StorageFurniture-46334-link_1-handle_5-joint_1-handlejoint_5/mobility_new.usd filter=lfs diff=lfs merge=lfs -text
+TrainSuite/cabinet_suite/StorageFurniture-45271-link_1-handle_3-joint_1-handlejoint_3/mobility_new.usd filter=lfs diff=lfs merge=lfs -text

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/.asset_hash

@@ -0,0 +1 @@
+ca2ce4f5299eb1aed9aba130644bd38f

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/bbox_info.json

@@ -0,0 +1 @@
+{"bbox_world": [[[0.3464174340388156, -0.42144951053221724, -0.09550858448381568], [-0.5553896189692094, -0.4214494030284457, -0.09550869198759378], [-0.5553895119541652, 0.47625790628700077, -0.09550869198759378], [0.3464175410538597, 0.4762577987832292, -0.09550858448381568], [0.346417493161264, -0.4214495105322243, -0.5914636283911511], [-0.555389559846761, -0.42144940302845274, -0.5914637358949292], [-0.5553894528317168, 0.4762579062869937, -0.5914637358949292], [0.3464176001763081, 0.47625779878322216, -0.5914636283911511]], [[0.3464174444071528, -0.4214493657662003, 0.38196739353987463], [-0.5553895082209281, -0.4214493657661939, 0.3819672860361085], [-0.5553895082209218, 0.4761788981554746, 0.3819672860361085], [0.3464174444071591, 0.4761788981554682, 0.38196739353987463], [0.34641749963237023, -0.4214493657662003, -0.08129530734296071], [-0.5553894529957107, -0.4214493657661939, -0.08129541484672685], [-0.5553894529957044, 0.4761788981554746, -0.08129541484672685], [0.34641749963237656, 0.4761788981554682, -0.08129530734296071]], [[0.3479649264044809, -0.42144928958926514, 0.6965954904339283], [-0.5553902263500314, -0.421449289589262, 0.6965954904339251], [-0.5553902263500283, 0.47602646811622584, 0.6965954904339251], [0.34796492640448407, 0.4760264681162227, 0.6965954904339283], [0.347964926404482, -0.42144928958926514, 0.3963750397349172], [-0.5553902263500303, -0.421449289589262, 0.396375039734914], [-0.5553902263500272, 0.47602646811622584, 0.396375039734914], [0.3479649264044852, 0.4760264681162227, 0.3963750397349172]], [[-0.588884827482763, 0.1367217591859829, -0.32092063324861003], [-0.588884827482763, -0.08191320610712759, -0.32092063324861003], [-0.588884827482763, -0.08191320610712759, -0.36601152509024254], [-0.588884827482763, 0.1367217591859829, -0.36601152509024254], [-0.5371782069904173, 0.1367217591859829, -0.32092063324861003], [-0.5371782069904173, -0.08191320610712759, -0.32092063324861003], [-0.5371782069904173, -0.08191320610712759, -0.36601152509024254], [-0.5371782069904173, 0.1367217591859829, -0.36601152509024254]], [[-0.5888841009999993, 0.13569195307518228, 0.17131969753927434], [-0.5888841009999993, -0.08191269362972207, 0.17131969753927434], [-0.5888841009999993, -0.08191269362972207, 0.1278592805392743], [-0.5888841009999993, 0.13569195307518228, 0.1278592805392743], [-0.5386318989999993, 0.13569195307518228, 0.17131969753927434], [-0.5386318989999993, -0.08191269362972207, 0.17131969753927434], [-0.5386318989999993, -0.08191269362972207, 0.1278592805392743], [-0.5386318989999993, 0.13569195307518228, 0.1278592805392743]], [[-0.5888847518520917, 0.13618796770213082, 0.5688993970039153], [-0.5888847518520917, -0.08191294151309302, 0.5688993970039153], [-0.5888847518520917, -0.08191294151309302, 0.5240395925052439], [-0.5888847518520917, 0.13618796770213082, 0.5240395925052439], [-0.5373295439648536, 0.13618796770213082, 0.5688993970039153], [-0.5373295439648536, -0.08191294151309302, 0.5688993970039153], [-0.5373295439648536, -0.08191294151309302, 0.5240395925052439], [-0.5373295439648536, 0.13618796770213082, 0.5240395925052439]]], "link_name": ["link_0", "link_1", "link_2", "handle_0", "handle_1", "handle_2"], "parent_joint_name": ["joint_0", "joint_1", "joint_2", "handlejoint_0", "handlejoint_1", "handlejoint_2"], "class_name": ["slider_drawer", "slider_drawer", "slider_drawer", "line_fixed_handle", "line_fixed_handle", "line_fixed_handle"], "parent_joint_type": ["prismatic", "prismatic", "prismatic", "fixed", "fixed", "fixed"], "axis_xyz_world": [[-0.538657009601593, -0.14754418238352668, -0.3090185484725288], [0.47079199552536055, 0.06597755242387357, 0.15464955017204704], [0.4707919955253601, 0.015975571246585413, 0.5151023282218963], [-0.538657009601593, -0.14754418238352668, -0.3090185484725288], [0.47079199552536055, 0.06597755242387357, 0.15464955017204704], [0.4707919955253601, 0.015975571246585413, 0.5151023282218963]], "axis_dir_world": [[-1.0, -0.0, 0.0], [-1.0, -0.0, 0.0], [-1.0, -0.0, 0.0], [-1.0, -0.0, 0.0], [-1.0, -0.0, 0.0], [-1.0, -0.0, 0.0]], "class_id": [6, 6, 6, 1, 1, 1], "instance_id ": [1, 3, 5, 2, 4, 6]}

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.482619, -0.794734, -0.519636], "max": [0.429141, 0.703158, 0.588859]}

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/config.yaml

@@ -0,0 +1,18 @@
+asset_path: /pkgs/IsaacLabCurobo/Assets/PartManip/drawer/train/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/mobility_new.urdf
+usd_dir: /pkgs/IsaacLabCurobo/Assets/PartManip/drawer/train/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2
+usd_file_name: mobility_new.usd
+force_usd_conversion: true
+make_instanceable: false
+import_inertia_tensor: true
+fix_base: true
+merge_fixed_joints: false
+self_collision: false
+default_drive_type: none
+override_joint_dynamics: false
+default_drive_stiffness: 0.0
+default_drive_damping: 0.0
+link_density: 0.0
+convex_decompose_mesh: false
+##
+# Generated by UrdfConverter on 2025-08-22 at 09:19:35.
+##

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/link_handle_relationship.json

@@ -0,0 +1,240 @@
+{
+    "relation": {
+        "link_0": [
+            "handle_0"
+        ],
+        "link_1": [
+            "handle_1"
+        ],
+        "link_2": [
+            "handle_2"
+        ]
+    },
+    "joint_body_connections": {
+        "joint_0": {
+            "parents": "link_3",
+            "child": "link_0",
+            "joint_type": "prismatic"
+        },
+        "joint_1": {
+            "parents": "link_3",
+            "child": "link_1",
+            "joint_type": "prismatic"
+        },
+        "joint_2": {
+            "parents": "link_3",
+            "child": "link_2",
+            "joint_type": "prismatic"
+        }
+    },
+    "handle": [
+        "handle_0",
+        "handle_1",
+        "handle_2"
+    ],
+    "drawer": [
+        "link_0",
+        "link_1",
+        "link_2"
+    ],
+    "cabinet": [],
+    "points_handle": {
+        "handle_0": [
+            [
+                -0.5888588993035349,
+                -0.08180392479684251,
+                -0.36598902879007
+            ],
+            [
+                -0.5386568768900055,
+                0.1352820737033067,
+                -0.32257201143796554
+            ],
+            [
+                -0.5637578880967702,
+                0.026739074453232092,
+                -0.3442805201140178
+            ]
+        ],
+        "handle_1": [
+            [
+                -0.5888590878021667,
+                -0.08180398274260625,
+                0.12788100213080486
+            ],
+            [
+                -0.5386570653886373,
+                0.13528201575754117,
+                0.17129800458174807
+            ],
+            [
+                -0.563758076595402,
+                0.026739016507466573,
+                0.14958950335627647
+            ]
+        ],
+        "handle_2": [
+            [
+                -0.588859117037341,
+                -0.08180403072848819,
+                0.5240619318711534
+            ],
+            [
+                -0.538657094623769,
+                0.13528196777170187,
+                0.5674799923045414
+            ],
+            [
+                -0.563758105830555,
+                0.026738968521605955,
+                0.5457709620878474
+            ]
+        ]
+    },
+    "points_drawer": {
+        "link_0": [
+            [
+                -0.5549388720643265,
+                -0.42100092184359106,
+                -0.5912160690521703
+            ],
+            [
+                -0.48981285258759755,
+                0.47447809272922825,
+                -0.09734600481179599
+            ],
+            [
+                -0.522375862325962,
+                0.02673858544281771,
+                -0.34428103693198314
+            ]
+        ],
+        "link_1": [
+            [
+                -0.5549390599160162,
+                -0.42100097914240564,
+                -0.0810640161319365
+            ],
+            [
+                -0.48981304043928375,
+                0.47447803413647627,
+                0.3802430248392614
+            ],
+            [
+                -0.5223760501776482,
+                0.026738527497034426,
+                0.14958950435366247
+            ]
+        ],
+        "link_2": [
+            [
+                -0.5549390859163239,
+                -0.421001023893421,
+                0.39652493744264045
+            ],
+            [
+                -0.4898130742032194,
+                0.47447798291577215,
+                0.6950179670287546
+            ],
+            [
+                -0.5223760800597717,
+                0.026738479511175584,
+                0.5457714522356976
+            ]
+        ]
+    },
+    "points_cabinet": {},
+    "link_pos_w": {
+        "base": [
+            0.0,
+            0.0,
+            0.0
+        ],
+        "link_3": [
+            0.0,
+            0.0,
+            0.0
+        ],
+        "link_0": [
+            -0.5386581420898438,
+            -0.14754486083984375,
+            -0.309018611907959
+        ],
+        "link_1": [
+            0.4707927703857422,
+            0.06597709655761719,
+            0.15464961528778076
+        ],
+        "link_2": [
+            0.4707908630371094,
+            0.015974998474121094,
+            0.5151023864746094
+        ],
+        "handle_0": [
+            -0.5386581420898438,
+            -0.14754486083984375,
+            -0.309018611907959
+        ],
+        "handle_1": [
+            0.4707927703857422,
+            0.06597709655761719,
+            0.15464961528778076
+        ],
+        "handle_2": [
+            0.4707908630371094,
+            0.015974998474121094,
+            0.5151023864746094
+        ]
+    },
+    "link_quat_w": {
+        "base": [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "link_3": [
+            0.5000000596046448,
+            0.5000000596046448,
+            -0.5000000596046448,
+            -0.5000000596046448
+        ],
+        "link_0": [
+            0.5,
+            0.5000000596046448,
+            -0.4999999403953552,
+            -0.5000000596046448
+        ],
+        "link_1": [
+            0.5,
+            0.5,
+            -0.5,
+            -0.5
+        ],
+        "link_2": [
+            0.5,
+            0.5000001192092896,
+            -0.5,
+            -0.4999999701976776
+        ],
+        "handle_0": [
+            0.5,
+            0.5000000596046448,
+            -0.4999999403953552,
+            -0.5000000596046448
+        ],
+        "handle_1": [
+            0.5,
+            0.5,
+            -0.5,
+            -0.5
+        ],
+        "handle_2": [
+            0.5,
+            0.5000001192092896,
+            -0.5,
+            -0.4999999701976776
+        ]
+    }
+}

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/meta.json

@@ -0,0 +1 @@
+{"model_id": "140c308db70cd2674da5feafe6f1c8fc", "anno_id": "44962", "user_id": "face++wwjing", "time_in_sec": "911", "version": "4", "model_cat": "StorageFurniture"}

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/mobility.urdf

@@ -0,0 +1,782 @@
+<?xml version="1.0" ?>
+<robot name="partnet_140c308db70cd2674da5feafe6f1c8fc">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-42">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-42">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-43">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-44">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-45">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-46">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-46">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-48">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-67">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-67">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-67">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-67">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-67">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-41">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0.14754418238352668 -0.3090185484725288 0.538657009601593"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.7999999999999998"/>
+	</joint>
+	<link name="link_1">
+		<visual name="drawer_side-33">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-34">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-35">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-36">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-36">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-39">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-31">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.06597755242387357 0.15464955017204704 -0.47079199552536055"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.7999999999999998"/>
+	</joint>
+	<link name="link_2">
+		<visual name="drawer_side-10">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-11">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-12">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-13">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-13">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-16">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-8">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.015975571246585413 0.5151023282218963 -0.4707919955253601"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.7999999999999998"/>
+	</joint>
+	<link name="link_3">
+		<visual name="vertical_side_panel-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-55">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-56">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-57">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-58">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-59">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-60">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-61">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-62">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-64">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-50">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-52">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-53">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<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-10.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-5.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-7.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-8.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-20.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-17.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-80.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-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/mobility_new.urdf

@@ -0,0 +1,803 @@
+<?xml version="1.0" ?>
+<robot name="partnet_140c308db70cd2674da5feafe6f1c8fc">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-42">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-42">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-43">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-44">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-45">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-46">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-46">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-48">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-67">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-67">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-67">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-67">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-67">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<link name="handle_0">
+		<visual name="handle-41">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+    </link>
+    <joint name="handlejoint_0" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <child link="handle_0"/>
+        <parent link="link_0"/>
+    </joint>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0.14754418238352668 -0.3090185484725288 0.538657009601593"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.7999999999999998"/>
+	</joint>
+	<link name="link_1">
+		<visual name="drawer_side-33">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-34">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-35">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-36">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-36">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-39">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<link name="handle_1">
+		<visual name="handle-31">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+    </link>
+    <joint name="handlejoint_1" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <child link="handle_1"/>
+        <parent link="link_1"/>
+    </joint>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.06597755242387357 0.15464955017204704 -0.47079199552536055"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.7999999999999998"/>
+	</joint>
+	<link name="link_2">
+		<visual name="drawer_side-10">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-11">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-12">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-13">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-13">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-16">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<link name="handle_2">
+		<visual name="handle-8">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</visual>
+    </link>
+    <joint name="handlejoint_2" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <child link="handle_2"/>
+        <parent link="link_2"/>
+    </joint>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.015975571246585413 0.5151023282218963 -0.4707919955253601"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.7999999999999998"/>
+	</joint>
+	<link name="link_3">
+		<visual name="vertical_side_panel-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-55">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-56">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-57">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-58">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-59">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-60">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-61">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-62">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-64">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-50">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-52">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-53">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<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-10.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-5.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-7.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-8.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-20.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-17.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-80.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-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/mobility_relabel.urdf

@@ -0,0 +1,782 @@
+<?xml version="1.0" ?>
+<robot name="partnet_140c308db70cd2674da5feafe6f1c8fc">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-42">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-42">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-43">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-44">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-45">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-46">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-46">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-48">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-67">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-67">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-67">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-67">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-67">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-41">
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14754418238352668 0.3090185484725288 -0.538657009601593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0.14754418238352668 -0.3090185484725288 0.538657009601593"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.7999999999999998"/>
+	</joint>
+	<link name="link_1">
+		<visual name="drawer_side-33">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-34">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-35">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-36">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-36">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-39">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-68">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-31">
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.06597755242387357 -0.15464955017204704 0.47079199552536055"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.06597755242387357 0.15464955017204704 -0.47079199552536055"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.7999999999999998"/>
+	</joint>
+	<link name="link_2">
+		<visual name="drawer_side-10">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-11">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-12">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-13">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-13">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-14">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-16">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-8">
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.015975571246585413 -0.5151023282218963 0.4707919955253601"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.015975571246585413 0.5151023282218963 -0.4707919955253601"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.7999999999999998"/>
+	</joint>
+	<link name="link_3">
+		<visual name="vertical_side_panel-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-55">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-56">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-57">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-58">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-59">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-60">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-61">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-62">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-64">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-50">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-52">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-53">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<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-10.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-5.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-7.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-8.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-20.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-17.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-80.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-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":42,"name":"drawer_front","children":[]},{"id":43,"name":"drawer_side","children":[]},{"id":44,"name":"drawer_side","children":[]},{"id":45,"name":"drawer_back","children":[]},{"id":46,"name":"drawer_bottom","children":[]},{"id":48,"name":"other_leaf","children":[]},{"id":67,"name":"drawer_front","children":[]},{"id":41,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0.14754418238352668,-0.3090185484725288,0.538657009601593],"direction":[0,0,1]},"limit":{"a":0,"b":0.7999999999999998,"noLimit":false}}},{"id":1,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":33,"name":"drawer_side","children":[]},{"id":34,"name":"drawer_side","children":[]},{"id":35,"name":"drawer_back","children":[]},{"id":36,"name":"drawer_bottom","children":[]},{"id":39,"name":"other_leaf","children":[]},{"id":68,"name":"drawer_front","children":[]},{"id":31,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[-0.06597755242387357,0.15464955017204704,-0.47079199552536055],"direction":[0,0,1]},"limit":{"a":0,"b":0.7999999999999998,"noLimit":false}}},{"id":2,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":10,"name":"drawer_side","children":[]},{"id":11,"name":"drawer_side","children":[]},{"id":12,"name":"drawer_back","children":[]},{"id":13,"name":"drawer_bottom","children":[]},{"id":14,"name":"drawer_front","children":[]},{"id":16,"name":"other_leaf","children":[]},{"id":8,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[-0.015975571246585413,0.5151023282218963,-0.4707919955253601],"direction":[0,0,1]},"limit":{"a":0,"b":0.7999999999999998,"noLimit":false}}},{"id":3,"parent":-1,"joint":"heavy","name":"cabinet_frame","parts":[{"id":23,"name":"vertical_side_panel","children":[]},{"id":24,"name":"vertical_side_panel","children":[]},{"id":27,"name":"back_panel","children":[]},{"id":28,"name":"bottom_panel","children":[]},{"id":54,"name":"frame_vertical_bar","children":[]},{"id":55,"name":"frame_vertical_bar","children":[]},{"id":56,"name":"frame_horizontal_bar","children":[]},{"id":57,"name":"frame_horizontal_bar","children":[]},{"id":58,"name":"frame_horizontal_bar","children":[]},{"id":59,"name":"frame_horizontal_bar","children":[]},{"id":60,"name":"frame_horizontal_bar","children":[]},{"id":61,"name":"frame_horizontal_bar","children":[]},{"id":62,"name":"frame_horizontal_bar","children":[]},{"id":64,"name":"other_leaf","children":[]},{"id":50,"name":"base_side_panel","children":[]},{"id":51,"name":"base_side_panel","children":[]},{"id":52,"name":"base_side_panel","children":[]},{"id":53,"name":"base_side_panel","children":[]}],"jointData":{}}]

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/13.txt

@@ -0,0 +1 @@
+13 drawer_bottom Drawer bottom

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/31.txt

@@ -0,0 +1 @@
+31 handle Handle

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/33.txt

@@ -0,0 +1 @@
+33 drawer_side Drawer side

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/35.txt

@@ -0,0 +1 @@
+35 drawer_back Drawer back

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/36.txt

@@ -0,0 +1 @@
+36 drawer_bottom Drawer bottom

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/39.txt

@@ -0,0 +1 @@
+39 other_leaf other_leaf

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/40.txt

@@ -0,0 +1 @@
+40 drawer_box Drawer box

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/43.txt

@@ -0,0 +1 @@
+43 drawer_side Drawer side

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/47.txt

@@ -0,0 +1 @@
+47 other Rectangular hole (other)

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/49.txt

@@ -0,0 +1 @@
+49 panel_base Panel Base

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/51.txt

@@ -0,0 +1 @@
+51 base_side_panel Base side panel

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/52.txt

@@ -0,0 +1 @@
+52 base_side_panel Base side panel

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/55.txt

@@ -0,0 +1 @@
+55 frame_vertical_bar Vertical support bar

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/56.txt

@@ -0,0 +1 @@
+56 frame_horizontal_bar Horizontal support bar

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/57.txt

@@ -0,0 +1 @@
+57 frame_horizontal_bar Horizontal support bar

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/6.txt

@@ -0,0 +1 @@
+6 drawer Drawer

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/63.txt

@@ -0,0 +1 @@
+63 other Rectangular hole (other)

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/64.txt

@@ -0,0 +1 @@
+64 other_leaf other_leaf

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render/8.txt

@@ -0,0 +1 @@
+8 handle Handle

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/0.txt

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

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/1.txt

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

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/10.txt

@@ -0,0 +1 @@
+10 frame_horizontal_bar frame_horizontal_bar

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/11.txt

@@ -0,0 +1 @@
+11 frame_horizontal_bar frame_horizontal_bar

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/12.txt

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

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/13.txt

@@ -0,0 +1 @@
+13 frame_horizontal_bar frame_horizontal_bar

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/14.txt

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

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/15.txt

@@ -0,0 +1 @@
+15 frame_horizontal_bar frame_horizontal_bar

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/16.txt

@@ -0,0 +1 @@
+16 cabinet_base cabinet_base

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/17.txt

@@ -0,0 +1 @@
+17 panel_base panel_base

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/18.txt

@@ -0,0 +1 @@
+18 base_side_panel base_side_panel

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/19.txt

@@ -0,0 +1 @@
+19 base_side_panel base_side_panel

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/2.txt

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

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/20.txt

@@ -0,0 +1 @@
+20 base_side_panel base_side_panel

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/21.txt

@@ -0,0 +1 @@
+21 base_side_panel base_side_panel

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/22.txt

@@ -0,0 +1 @@
+22 drawer drawer

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/23.txt

@@ -0,0 +1 @@
+23 drawer_box drawer_box

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/24.txt

@@ -0,0 +1 @@
+24 drawer_front drawer_front

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/25.txt

@@ -0,0 +1 @@
+25 drawer_side drawer_side

TrainSuite/cabinet_suite/StorageFurniture-44962-link_2-handle_2-joint_2-handlejoint_2/parts_render_after_merging/26.txt

@@ -0,0 +1 @@
+26 drawer_side drawer_side