diff --git a/PartNetMobility/Table/19203/bounding_box.json b/PartNetMobility/Table/19203/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dd176eb1b7666dc0b37c2590a0fad36aa6661c4
--- /dev/null
+++ b/PartNetMobility/Table/19203/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.763669, -0.589915, -0.615345], "max": [0.747053, 0.342988, 0.585485]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/19203/meta.json b/PartNetMobility/Table/19203/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eba97e164138d0c0088d86dfdf5465087f968a0c
--- /dev/null
+++ b/PartNetMobility/Table/19203/meta.json
@@ -0,0 +1 @@
+{"model_id": "138c29cb642dcd6352620f29156438e2", "anno_id": "19203", "user_id": "shape25", "time_in_sec": "371", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/19203/mobility.urdf b/PartNetMobility/Table/19203/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..143402c2ac43ebceb251b13bc486c4dbb5dbb86a
--- /dev/null
+++ b/PartNetMobility/Table/19203/mobility.urdf
@@ -0,0 +1,495 @@
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diff --git a/PartNetMobility/Table/19203/mobility_v2.json b/PartNetMobility/Table/19203/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d99f5584795238f2f3280fb43558eacca9f151e
--- /dev/null
+++ b/PartNetMobility/Table/19203/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":8,"joint":"hinge","name":"caster_stem","parts":[{"id":22,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.606799069797977,0,-0.46982091460933856],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":23,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.5753904999999999,-0.5511784999999999,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":8,"joint":"hinge","name":"caster_stem","parts":[{"id":20,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.6015289615053332,0,-0.45847411478613603],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":2,"joint":"hinge","name":"wheel","parts":[{"id":21,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.6243054491276966,-0.5514421963839776,-0.42814229096345746],"direction":[0.9999999993838132,0.0000060259324194091366,-0.00003458412586590247]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":8,"joint":"hinge","name":"caster_stem","parts":[{"id":18,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.5901816443331189,0,0.43996147110157713],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":19,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.5587737868012876,-0.5511784999999999,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":8,"joint":"hinge","name":"caster_stem","parts":[{"id":16,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.6181829999999999,0,0.42662500000000003],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":6,"joint":"hinge","name":"wheel","parts":[{"id":17,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.640922,-0.5512141919173537,0.39798255958692286],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":-1,"joint":"free","name":"board","parts":[{"id":40,"name":"board","children":[]},{"id":7,"name":"vertical_divider_panel","children":[]},{"id":8,"name":"leg","children":[]},{"id":9,"name":"leg","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":24,"name":"shelf","children":[]},{"id":25,"name":"base_side_panel","children":[]},{"id":26,"name":"base_side_panel","children":[]},{"id":27,"name":"base_side_panel","children":[]},{"id":28,"name":"base_side_panel","children":[]},{"id":29,"name":"tabletop_connector","children":[]},{"id":30,"name":"tabletop_connector","children":[]},{"id":31,"name":"tabletop_connector","children":[]},{"id":32,"name":"tabletop_connector","children":[]},{"id":33,"name":"tabletop_connector","children":[]},{"id":34,"name":"tabletop_connector","children":[]},{"id":35,"name":"bottom_panel","children":[]},{"id":36,"name":"bottom_panel","children":[]},{"id":37,"name":"bottom_panel","children":[]},{"id":38,"name":"bottom_panel","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/19203/result.json b/PartNetMobility/Table/19203/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..158291e840eb0523317977b5a7d95a97518a1e75
--- /dev/null
+++ b/PartNetMobility/Table/19203/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-51", "original-50"], "id": 40, "name": "board"}], "id": 39, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Shelving Base", "children": [{"text": "Vertical divider panel", "objs": ["original-11"], "id": 7, "name": "vertical_divider_panel"}, {"text": "Leg", "objs": ["original-4"], "id": 8, "name": "leg"}, {"text": "Leg", "objs": ["original-3"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["original-2"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-5"], "id": 11, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-37", "original-38"], "id": 22, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-36"], "id": 23, "name": "wheel"}], "id": 12, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-28", "original-29"], "id": 20, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-27"], "id": 21, "name": "wheel"}], "id": 13, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-21", "original-20"], "id": 18, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-19"], "id": 19, "name": "wheel"}], "id": 14, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-45", "original-46"], "id": 16, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-44"], "id": 17, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Shelf", "objs": ["original-13"], "id": 24, "name": "shelf"}, {"text": "Base side panel", "objs": ["original-10"], "id": 25, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-12"], "id": 26, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-9"], "id": 27, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-8"], "id": 28, "name": "base_side_panel"}, {"text": "Tabletop Connector", "objs": ["original-58"], "id": 29, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-56"], "id": 30, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-54"], "id": 31, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-53"], "id": 32, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-57"], "id": 33, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-55"], "id": 34, "name": "tabletop_connector"}, {"text": "Bottom panel", "objs": ["original-40"], "id": 35, "name": "bottom_panel"}, {"text": "Bottom panel", "objs": ["original-48"], "id": 36, "name": "bottom_panel"}, {"text": "Bottom panel", "objs": ["original-23"], "id": 37, "name": "bottom_panel"}, {"text": "Bottom panel", "objs": ["original-30", "original-31"], "id": 38, "name": "bottom_panel"}], "id": 4, "name": "shelving_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/19203/result_after_merging.json b/PartNetMobility/Table/19203/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fd2eb3f57696c03fc0d0593176261970b10b07e
--- /dev/null
+++ b/PartNetMobility/Table/19203/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "table", "objs": ["original-51", "original-50", "original-11", "original-4", "original-3", "original-2", "original-5", "original-37", "original-38", "original-36", "original-28", "original-29", "original-27", "original-21", "original-20", "original-19", "original-45", "original-46", "original-44", "original-13", "original-10", "original-12", "original-9", "original-8", "original-58", "original-56", "original-54", "original-53", "original-57", "original-55", "original-40", "original-48", "original-23", "original-30", "original-31"], "id": 0, "children": [{"text": "regular_table", "objs": ["original-51", "original-50", "original-11", "original-4", "original-3", "original-2", "original-5", "original-37", "original-38", "original-36", "original-28", "original-29", "original-27", "original-21", "original-20", "original-19", "original-45", "original-46", "original-44", "original-13", "original-10", "original-12", "original-9", "original-8", "original-58", "original-56", "original-54", "original-53", "original-57", "original-55", "original-40", "original-48", "original-23", "original-30", "original-31"], "id": 1, "children": [{"text": "tabletop", "objs": ["original-51", "original-50"], "id": 2, "children": [{"text": "tabletop_surface", "objs": ["original-51", "original-50"], "id": 3, "children": [{"name": "board", "text": "board", "objs": ["original-51", "original-50"], "id": 4, "ori_id": 40}], "name": "tabletop_surface", "ori_id": 39}], "name": "tabletop", "ori_id": 2}, {"text": "table_base", "objs": ["original-11", "original-4", "original-3", "original-2", "original-5", "original-37", "original-38", "original-36", "original-28", "original-29", "original-27", "original-21", "original-20", "original-19", "original-45", "original-46", "original-44", "original-13", "original-10", "original-12", "original-9", "original-8", "original-58", "original-56", "original-54", "original-53", "original-57", "original-55", "original-40", "original-48", "original-23", "original-30", "original-31"], "id": 5, "children": [{"text": "drawer_base", "objs": ["original-11", "original-4", "original-3", "original-2", "original-5", "original-37", "original-38", "original-36", "original-28", "original-29", "original-27", "original-21", "original-20", "original-19", "original-45", "original-46", "original-44", "original-13", "original-10", "original-12", "original-9", "original-8", "original-58", "original-56", "original-54", "original-53", "original-57", "original-55", "original-40", "original-48", "original-23", "original-30", "original-31"], "id": 6, "children": [{"name": "vertical_divider_panel", "text": "vertical_divider_panel", "objs": ["original-11"], "id": 7, "ori_id": 7}, {"name": "leg", "text": "leg", "objs": ["original-4"], "id": 8, "ori_id": 8}, {"name": "leg", "text": "leg", "objs": ["original-3"], "id": 9, "ori_id": 9}, {"name": "leg", "text": "leg", "objs": ["original-2"], "id": 10, "ori_id": 10}, {"name": "leg", "text": "leg", "objs": ["original-5"], "id": 11, "ori_id": 11}, {"text": "caster", "objs": ["original-37", "original-38", "original-36"], "id": 12, "children": [{"name": "caster_stem", "text": "caster_stem", "objs": ["original-37", "original-38"], "id": 13, "ori_id": 22}, {"name": "wheel", "text": "wheel", "objs": ["original-36"], "id": 14, "ori_id": 23}], "name": "caster", "ori_id": 12}, {"text": "caster", "objs": ["original-28", "original-29", "original-27"], "id": 15, "children": [{"name": "caster_stem", "text": "caster_stem", "objs": ["original-28", "original-29"], "id": 16, "ori_id": 20}, {"name": "wheel", "text": "wheel", "objs": ["original-27"], "id": 17, "ori_id": 21}], "name": "caster", "ori_id": 13}, {"text": "caster", "objs": ["original-21", "original-20", "original-19"], "id": 18, "children": [{"name": "caster_stem", "text": "caster_stem", "objs": ["original-21", "original-20"], "id": 19, "ori_id": 18}, {"name": "wheel", "text": "wheel", "objs": ["original-19"], "id": 20, "ori_id": 19}], "name": "caster", "ori_id": 14}, {"text": "caster", "objs": ["original-45", "original-46", "original-44"], "id": 21, "children": [{"name": "caster_stem", "text": "caster_stem", "objs": ["original-45", "original-46"], "id": 22, "ori_id": 16}, {"name": "wheel", "text": "wheel", "objs": ["original-44"], "id": 23, "ori_id": 17}], "name": "caster", "ori_id": 15}, {"name": "shelf", "text": "shelf", "objs": ["original-13"], "id": 24, "ori_id": 24}, {"name": "tabletop_connector", "text": "tabletop_connector", "objs": ["original-58"], "id": 25, "ori_id": 29}, {"name": "tabletop_connector", "text": "tabletop_connector", "objs": ["original-56"], "id": 26, "ori_id": 30}, {"name": "tabletop_connector", "text": "tabletop_connector", "objs": ["original-54"], "id": 27, "ori_id": 31}, {"name": "tabletop_connector", "text": "tabletop_connector", "objs": ["original-53"], "id": 28, "ori_id": 32}, {"name": "tabletop_connector", "text": "tabletop_connector", "objs": ["original-57"], "id": 29, "ori_id": 33}, {"name": "tabletop_connector", "text": "tabletop_connector", "objs": ["original-55"], "id": 30, "ori_id": 34}, {"name": "bottom_panel", "text": "bottom_panel", "objs": ["original-40"], "id": 31, "ori_id": 35}, {"name": "bottom_panel", "text": "bottom_panel", "objs": ["original-48"], "id": 32, "ori_id": 36}, {"name": "bottom_panel", "text": "bottom_panel", "objs": ["original-23"], "id": 33, "ori_id": 37}, {"name": "bottom_panel", "text": "bottom_panel", "objs": ["original-30", "original-31"], "id": 34, "ori_id": 38}], "name": "drawer_base", "ori_id": 4}], "name": "table_base", "ori_id": 3}], "name": "regular_table", "ori_id": 1}], "name": "table", "ori_id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/19203/semantics.txt b/PartNetMobility/Table/19203/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..65f014ff150dcedd08ae80c3fb206f9652729426
--- /dev/null
+++ b/PartNetMobility/Table/19203/semantics.txt
@@ -0,0 +1,9 @@
+link_0 hinge caster
+link_1 hinge wheel
+link_2 hinge caster
+link_3 hinge wheel
+link_4 hinge caster
+link_5 hinge wheel
+link_6 hinge caster
+link_7 hinge wheel
+link_8 free furniture_body
diff --git a/PartNetMobility/Table/19203/tree_hier.html b/PartNetMobility/Table/19203/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..ef5eb9795c49d8df7af95e9b6d345cd925dac779
--- /dev/null
+++ b/PartNetMobility/Table/19203/tree_hier.html
@@ -0,0 +1,2 @@
+
Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
39 tabletop_surface Tabletop surface
4 shelving_base Shelving Base
40 board Board
7 vertical_divider_panel Vertical divider panel
8 leg Leg
9 leg Leg
10 leg Leg
11 leg Leg
12 caster Wheel Assembly
13 caster Wheel Assembly
14 caster Wheel Assembly
15 caster Wheel Assembly
24 shelf Shelf
25 base_side_panel Base side panel
26 base_side_panel Base side panel
27 base_side_panel Base side panel
28 base_side_panel Base side panel
29 tabletop_connector Tabletop Connector
30 tabletop_connector Tabletop Connector
31 tabletop_connector Tabletop Connector
32 tabletop_connector Tabletop Connector
33 tabletop_connector Tabletop Connector
34 tabletop_connector Tabletop Connector
35 bottom_panel Bottom panel
36 bottom_panel Bottom panel
37 bottom_panel Bottom panel
38 bottom_panel Bottom panel
22 caster_stem Caster Stem
23 wheel Wheel
20 caster_stem Caster Stem
21 wheel Wheel
18 caster_stem Caster Stem
19 wheel Wheel
16 caster_stem Caster Stem
17 wheel Wheel
\ No newline at end of file
diff --git a/PartNetMobility/Table/19203/tree_hier_after_merging.html b/PartNetMobility/Table/19203/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..44f5339f5198158afae2bff2d9395d3483713050
--- /dev/null
+++ b/PartNetMobility/Table/19203/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
6 drawer_base drawer_base
4 board board
7 vertical_divider_panel vertical_divider_panel
8 leg leg
9 leg leg
10 leg leg
11 leg leg
12 caster caster
15 caster caster
18 caster caster
21 caster caster
24 shelf shelf
25 tabletop_connector tabletop_connector
26 tabletop_connector tabletop_connector
27 tabletop_connector tabletop_connector
28 tabletop_connector tabletop_connector
29 tabletop_connector tabletop_connector
30 tabletop_connector tabletop_connector
31 bottom_panel bottom_panel
32 bottom_panel bottom_panel
33 bottom_panel bottom_panel
34 bottom_panel bottom_panel
13 caster_stem caster_stem
14 wheel wheel
16 caster_stem caster_stem
17 wheel wheel
19 caster_stem caster_stem
20 wheel wheel
22 caster_stem caster_stem
23 wheel wheel
\ No newline at end of file
diff --git a/PartNetMobility/Table/19740/bounding_box.json b/PartNetMobility/Table/19740/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d20e8e9ee0cdc50a4ddf62dbcbec5527bc9f86b
--- /dev/null
+++ b/PartNetMobility/Table/19740/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.998959, -0.457023, -0.434573], "max": [0.972037, 0.212431, 0.429891]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/19740/meta.json b/PartNetMobility/Table/19740/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65d43d178744ca453b617f848d644364e806e816
--- /dev/null
+++ b/PartNetMobility/Table/19740/meta.json
@@ -0,0 +1 @@
+{"model_id": "1e588358e4681e1ac3bd24f986301745", "anno_id": "19740", "user_id": "shape12", "time_in_sec": "419", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/19740/mobility.urdf b/PartNetMobility/Table/19740/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8a913bcb9c2f9929fe8bb391d6857cec7a57af3e
--- /dev/null
+++ b/PartNetMobility/Table/19740/mobility.urdf
@@ -0,0 +1,363 @@
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diff --git a/PartNetMobility/Table/19740/mobility_v2.json b/PartNetMobility/Table/19740/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e83e65dbcaddd67080b7d837bc972a29071b30d3
--- /dev/null
+++ b/PartNetMobility/Table/19740/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":49,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.3991179319248829,-0.27427296178698596],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":50,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.3991179319248829,-0.27427296178698596],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":55,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.39911796178698594,0.25193193192488283],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":56,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.39911796178698594,0.25193193192488283],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":44,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.3991179227172805,0.25818086487119557],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":45,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.3991179227172805,0.25818086487119557],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":52,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.39911796178698594,-0.29786206807511717],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":53,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.39911796178698594,-0.29786206807511717],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":61,"name":"board","children":[]},{"id":33,"name":"shelf","children":[]},{"id":35,"name":"other_leaf","children":[]},{"id":48,"name":"caster_mounting_plate","children":[]},{"id":54,"name":"caster_mounting_plate","children":[]},{"id":58,"name":"brake","children":[]},{"id":59,"name":"caster_mounting_plate","children":[]},{"id":51,"name":"caster_mounting_plate","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/19740/result.json b/PartNetMobility/Table/19740/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..b620016d858b9937a42a4bb96dc465e05ef91dd0
--- /dev/null
+++ b/PartNetMobility/Table/19740/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["new-2"], "id": 61, "name": "board"}], "id": 60, "name": "tabletop_surface"}], "id": 26, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Irregular Base", "children": [{"text": "Wheel Assembly", "children": [{"text": "Mounting Plate", "objs": ["original-24", "original-25", "original-26"], "id": 48, "name": "caster_mounting_plate"}, {"text": "Wheel", "objs": ["original-29"], "id": 49, "name": "wheel"}, {"text": "Wheel", "objs": ["original-28"], "id": 50, "name": "wheel"}], "id": 29, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Mounting Plate", "objs": ["original-5", "original-4", "original-6"], "id": 54, "name": "caster_mounting_plate"}, {"text": "Wheel", "objs": ["original-8"], "id": 55, "name": "wheel"}, {"text": "Wheel", "objs": ["original-9"], "id": 56, "name": "wheel"}], "id": 30, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-19"], "id": 44, "name": "wheel"}, {"text": "Wheel", "objs": ["original-18"], "id": 45, "name": "wheel"}, {"text": "Brake", "objs": ["original-16"], "id": 58, "name": "brake"}, {"text": "Mounting Plate", "objs": ["original-15", "original-11", "original-20"], "id": 59, "name": "caster_mounting_plate"}], "id": 31, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Mounting Plate", "objs": ["original-33", "original-34", "original-35"], "id": 51, "name": "caster_mounting_plate"}, {"text": "Wheel", "objs": ["original-37"], "id": 52, "name": "wheel"}, {"text": "Wheel", "objs": ["original-38"], "id": 53, "name": "wheel"}], "id": 32, "name": "caster"}, {"text": "Shelf", "objs": ["new-1"], "id": 33, "name": "shelf"}, {"text": "Central support (other)", "children": [{"text": "other_leaf", "objs": ["new-0"], "id": 35, "name": "other_leaf"}], "id": 34, "name": "other"}], "id": 28, "name": "irregular_base"}], "id": 27, "name": "table_base"}], "id": 25, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/19740/result_after_merging.json b/PartNetMobility/Table/19740/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5207960a15679ffe28d3b3f5e18f5265d8cd0b4
--- /dev/null
+++ b/PartNetMobility/Table/19740/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "table", "objs": ["new-2", "original-24", "original-25", "original-26", "original-29", "original-28", "original-5", "original-4", "original-6", "original-8", "original-9", "original-19", "original-18", "original-16", "original-15", "original-11", "original-20", "original-33", "original-34", "original-35", "original-37", "original-38", "new-1", "new-0"], "id": 0, "children": [{"name": "regular_table", "objs": ["new-2", "original-24", "original-25", "original-26", "original-29", "original-28", "original-5", "original-4", "original-6", "original-8", "original-9", "original-19", "original-18", "original-16", "original-15", "original-11", "original-20", "original-33", "original-34", "original-35", "original-37", "original-38", "new-1", "new-0"], "id": 1, "children": [{"name": "tabletop", "objs": ["new-2"], "id": 2, "children": [{"name": "tabletop_surface", "objs": ["new-2"], "id": 3, "children": [{"objs": ["new-2"], "name": "board", "ori_id": 61, "id": 4, "text": "board"}], "ori_id": 60, "text": "tabletop_surface"}], "ori_id": 26, "text": "tabletop"}, {"objs": ["original-24", "original-25", "original-26", "original-29", "original-28", "original-5", "original-4", "original-6", "original-8", "original-9", "original-19", "original-18", "original-16", "original-15", "original-11", "original-20", "original-33", "original-34", "original-35", "original-37", "original-38", "new-1", "new-0"], "name": "table_base", "ori_id": 27, "id": 5, "text": "table_base"}], "ori_id": 25, "text": "regular_table"}], "ori_id": 0, "text": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/19740/semantics.txt b/PartNetMobility/Table/19740/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..069726f874710f7a990b70d4bfc0258150750a02
--- /dev/null
+++ b/PartNetMobility/Table/19740/semantics.txt
@@ -0,0 +1,9 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge wheel
+link_5 hinge wheel
+link_6 hinge wheel
+link_7 hinge wheel
+link_8 heavy furniture_body
diff --git a/PartNetMobility/Table/19740/tree_hier.html b/PartNetMobility/Table/19740/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..eb94024c0516875819cd2023356bfeebe60c0748
--- /dev/null
+++ b/PartNetMobility/Table/19740/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
25 regular_table Regular table
26 tabletop Tabletop
27 table_base Table Base
60 tabletop_surface Tabletop surface
28 irregular_base Irregular Base
61 board Board
29 caster Wheel Assembly
30 caster Wheel Assembly
31 caster Wheel Assembly
32 caster Wheel Assembly
33 shelf Shelf
34 other Central support (other)
48 caster_mounting_plate Mounting Plate
49 wheel Wheel
50 wheel Wheel
54 caster_mounting_plate Mounting Plate
55 wheel Wheel
56 wheel Wheel
44 wheel Wheel
45 wheel Wheel
58 brake Brake
59 caster_mounting_plate Mounting Plate
51 caster_mounting_plate Mounting Plate
52 wheel Wheel
53 wheel Wheel
35 other_leaf other_leaf
\ No newline at end of file
diff --git a/PartNetMobility/Table/19740/tree_hier_after_merging.html b/PartNetMobility/Table/19740/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..5302b795eb382e3b83931b2df74a9d550fea98a9
--- /dev/null
+++ b/PartNetMobility/Table/19740/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
4 board board
\ No newline at end of file
diff --git a/PartNetMobility/Table/19836/bounding_box.json b/PartNetMobility/Table/19836/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d00465029563fb804a11a1adb4343cf8bef8084
--- /dev/null
+++ b/PartNetMobility/Table/19836/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.814018, -0.489184, -0.50561], "max": [0.547405, 0.355479, 0.743181]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/19836/meta.json b/PartNetMobility/Table/19836/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d24e4681f4c20484ede0c41b0de00045f95bbc43
--- /dev/null
+++ b/PartNetMobility/Table/19836/meta.json
@@ -0,0 +1 @@
+{"model_id": "20ab56e8a819c7f06a9633583f89b17f", "anno_id": "19836", "user_id": "shape25", "time_in_sec": "844", "version": "4", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/19836/mobility.urdf b/PartNetMobility/Table/19836/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c791cdf43305fbfe217d6507ef8aca46779f3ca9
--- /dev/null
+++ b/PartNetMobility/Table/19836/mobility.urdf
@@ -0,0 +1,374 @@
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diff --git a/PartNetMobility/Table/19836/mobility_v2.json b/PartNetMobility/Table/19836/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..63fa45714f439a5b79f7c045ee0f34085c90f5c8
--- /dev/null
+++ b/PartNetMobility/Table/19836/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":3,"joint":"slider","name":"drawer_box","parts":[{"id":17,"name":"drawer_front","children":[]},{"id":25,"name":"drawer_side","children":[]},{"id":26,"name":"drawer_side","children":[]},{"id":27,"name":"drawer_back","children":[]},{"id":28,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":-0.1359999999999999,"b":0.5,"noLimit":false}}},{"id":1,"parent":3,"joint":"slider","name":"drawer_box","parts":[{"id":34,"name":"drawer_front","children":[]},{"id":35,"name":"drawer_side","children":[]},{"id":36,"name":"drawer_side","children":[]},{"id":37,"name":"drawer_back","children":[]},{"id":38,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":-0.20799999999999996,"b":0.3839999999999999,"noLimit":false}}},{"id":2,"parent":3,"joint":"slider","name":"drawer_box","parts":[{"id":29,"name":"drawer_front","children":[]},{"id":30,"name":"drawer_side","children":[]},{"id":31,"name":"drawer_side","children":[]},{"id":32,"name":"drawer_back","children":[]},{"id":33,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":-0.3560000000000001,"b":0.2719999999999998,"noLimit":false}}},{"id":3,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":19,"name":"board","children":[]},{"id":8,"name":"back_panel","children":[]},{"id":9,"name":"vertical_side_panel","children":[]},{"id":10,"name":"vertical_side_panel","children":[]},{"id":11,"name":"vertical_side_panel","children":[]},{"id":12,"name":"bottom_panel","children":[]},{"id":24,"name":"tabletop_connector","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/19836/result.json b/PartNetMobility/Table/19836/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..604a4d97f30da95f1dd89a86aa7d39395dacebae
--- /dev/null
+++ b/PartNetMobility/Table/19836/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Drawer Base", "children": [{"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["new-0"], "id": 17, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-1"], "id": 25, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-2"], "id": 26, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-3"], "id": 27, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-4"], "id": 28, "name": "drawer_bottom"}], "id": 16, "name": "drawer_box"}], "id": 5, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["new-8"], "id": 34, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-7"], "id": 35, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-6"], "id": 36, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-5"], "id": 37, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-9"], "id": 38, "name": "drawer_bottom"}], "id": 22, "name": "drawer_box"}], "id": 6, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["new-10"], "id": 29, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-11"], "id": 30, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-12"], "id": 31, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-13"], "id": 32, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-14"], "id": 33, "name": "drawer_bottom"}], "id": 20, "name": "drawer_box"}], "id": 7, "name": "drawer"}, {"text": "Back panel", "objs": ["original-11"], "id": 8, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-12", "original-18", "original-19", "original-17"], "id": 9, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-13"], "id": 10, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-3", "original-9", "original-5", "original-4"], "id": 11, "name": "vertical_side_panel"}, {"text": "Bottom panel", "objs": ["original-7"], "id": 12, "name": "bottom_panel"}, {"text": "Tabletop Connector", "objs": ["original-8"], "id": 24, "name": "tabletop_connector"}], "id": 3, "name": "drawer_base"}, {"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-10"], "id": 19, "name": "board"}], "id": 18, "name": "tabletop_surface"}], "id": 13, "name": "tabletop"}], "id": 1, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/19836/result_after_merging.json b/PartNetMobility/Table/19836/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..06d30ba1282507a3e7a010d9ea4a2f76d214b6d2
--- /dev/null
+++ b/PartNetMobility/Table/19836/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["new-0", "new-1", "new-2", "new-3", "new-4", "new-8", "new-7", "new-6", "new-5", "new-9", "new-10", "new-11", "new-12", "new-13", "new-14", "original-11", "original-12", "original-18", "original-19", "original-17", "original-13", "original-3", "original-9", "original-5", "original-4", "original-7", "original-8", "original-10"], "id": 0, "children": [{"objs": ["new-0", "new-1", "new-2", "new-3", "new-4", "new-8", "new-7", "new-6", "new-5", "new-9", "new-10", "new-11", "new-12", "new-13", "new-14", "original-11", "original-12", "original-18", "original-19", "original-17", "original-13", "original-3", "original-9", "original-5", "original-4", "original-7", "original-8", "original-10"], "id": 1, "children": [{"objs": ["new-0", "new-1", "new-2", "new-3", "new-4", "new-8", "new-7", "new-6", "new-5", "new-9", "new-10", "new-11", "new-12", "new-13", "new-14", "original-11", "original-12", "original-18", "original-19", "original-17", "original-13", "original-3", "original-9", "original-5", "original-4", "original-7", "original-8"], "id": 2, "children": [{"objs": ["new-0", "new-1", "new-2", "new-3", "new-4"], "id": 3, "children": [{"objs": ["new-0", "new-1", "new-2", "new-3", "new-4"], "id": 4, "children": [{"objs": ["new-0"], "text": "drawer_front", "ori_id": 17, "name": "drawer_front", "id": 5}, {"objs": ["new-1"], "text": "drawer_side", "ori_id": 25, "name": "drawer_side", "id": 6}, {"objs": ["new-2"], "text": "drawer_side", "ori_id": 26, "name": "drawer_side", "id": 7}, {"objs": ["new-3"], "text": "drawer_back", "ori_id": 27, "name": "drawer_back", "id": 8}, {"objs": ["new-4"], "text": "drawer_bottom", "ori_id": 28, "name": "drawer_bottom", "id": 9}], "text": "drawer_box", "ori_id": 16, "name": "drawer_box"}], "text": "drawer", "ori_id": 5, "name": "drawer"}, {"objs": ["new-8", "new-7", "new-6", "new-5", "new-9"], "id": 10, "children": [{"objs": ["new-8", "new-7", "new-6", "new-5", "new-9"], "id": 11, "children": [{"objs": ["new-8"], "text": "drawer_front", "ori_id": 34, "name": "drawer_front", "id": 12}, {"objs": ["new-7"], "text": "drawer_side", "ori_id": 35, "name": "drawer_side", "id": 13}, {"objs": ["new-6"], "text": "drawer_side", "ori_id": 36, "name": "drawer_side", "id": 14}, {"objs": ["new-5"], "text": "drawer_back", "ori_id": 37, "name": "drawer_back", "id": 15}, {"objs": ["new-9"], "text": "drawer_bottom", "ori_id": 38, "name": "drawer_bottom", "id": 16}], "text": "drawer_box", "ori_id": 22, "name": "drawer_box"}], "text": "drawer", "ori_id": 6, "name": "drawer"}, {"objs": ["new-10", "new-11", "new-12", "new-13", "new-14"], "id": 17, "children": [{"objs": ["new-10", "new-11", "new-12", "new-13", "new-14"], "id": 18, "children": [{"objs": ["new-10"], "text": "drawer_front", "ori_id": 29, "name": "drawer_front", "id": 19}, {"objs": ["new-11"], "text": "drawer_side", "ori_id": 30, "name": "drawer_side", "id": 20}, {"objs": ["new-12"], "text": "drawer_side", "ori_id": 31, "name": "drawer_side", "id": 21}, {"objs": ["new-13"], "text": "drawer_back", "ori_id": 32, "name": "drawer_back", "id": 22}, {"objs": ["new-14"], "text": "drawer_bottom", "ori_id": 33, "name": "drawer_bottom", "id": 23}], "text": "drawer_box", "ori_id": 20, "name": "drawer_box"}], "text": "drawer", "ori_id": 7, "name": "drawer"}, {"objs": ["original-11"], "text": "back_panel", "ori_id": 8, "name": "back_panel", "id": 24}, {"objs": ["original-12", "original-18", "original-19", "original-17"], "text": "vertical_side_panel", "ori_id": 9, "name": "vertical_side_panel", "id": 25}, {"objs": ["original-13"], "text": "vertical_side_panel", "ori_id": 10, "name": "vertical_side_panel", "id": 26}, {"objs": ["original-3", "original-9", "original-5", "original-4"], "text": "vertical_side_panel", "ori_id": 11, "name": "vertical_side_panel", "id": 27}, {"objs": ["original-7"], "text": "bottom_panel", "ori_id": 12, "name": "bottom_panel", "id": 28}, {"objs": ["original-8"], "text": "tabletop_connector", "ori_id": 24, "name": "tabletop_connector", "id": 29}], "text": "drawer_base", "ori_id": 3, "name": "drawer_base"}, {"objs": ["original-10"], "id": 30, "children": [{"objs": ["original-10"], "id": 31, "children": [{"objs": ["original-10"], "text": "board", "ori_id": 19, "name": "board", "id": 32}], "text": "tabletop_surface", "ori_id": 18, "name": "tabletop_surface"}], "text": "tabletop", "ori_id": 13, "name": "tabletop"}], "text": "regular_table", "ori_id": 1, "name": "regular_table"}], "text": "table", "ori_id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/19836/semantics.txt b/PartNetMobility/Table/19836/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..935b1b0ee0e1adeaea0334617306dcc5ecc2f4c0
--- /dev/null
+++ b/PartNetMobility/Table/19836/semantics.txt
@@ -0,0 +1,4 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 slider drawer
+link_3 heavy furniture_body
diff --git a/PartNetMobility/Table/19836/tree_hier.html b/PartNetMobility/Table/19836/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..24ac92cc248796aec0a100e99b9147c50ab12d60
--- /dev/null
+++ b/PartNetMobility/Table/19836/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 desk Desk
3 drawer_base Drawer Base
13 tabletop Tabletop
5 drawer Drawer
6 drawer Drawer
7 drawer Drawer
8 back_panel Back panel
9 vertical_side_panel Vertical side panel
10 vertical_side_panel Vertical side panel
11 vertical_side_panel Vertical side panel
12 bottom_panel Bottom panel
24 tabletop_connector Tabletop Connector
18 tabletop_surface Tabletop surface
16 drawer_box Drawer box
22 drawer_box Drawer box
20 drawer_box Drawer box
19 board Board
17 drawer_front Drawer front
25 drawer_side Drawer side
26 drawer_side Drawer side
27 drawer_back Drawer back
28 drawer_bottom Drawer bottom
34 drawer_front Drawer front
35 drawer_side Drawer side
36 drawer_side Drawer side
37 drawer_back Drawer back
38 drawer_bottom Drawer bottom
29 drawer_front Drawer front
30 drawer_side Drawer side
31 drawer_side Drawer side
32 drawer_back Drawer back
33 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/19836/tree_hier_after_merging.html b/PartNetMobility/Table/19836/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..ade6204e56c383b9c35793a4387ad6fd1c0fc050
--- /dev/null
+++ b/PartNetMobility/Table/19836/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 drawer_base drawer_base
30 tabletop tabletop
3 drawer drawer
10 drawer drawer
17 drawer drawer
24 back_panel back_panel
25 vertical_side_panel vertical_side_panel
26 vertical_side_panel vertical_side_panel
27 vertical_side_panel vertical_side_panel
28 bottom_panel bottom_panel
29 tabletop_connector tabletop_connector
31 tabletop_surface tabletop_surface
4 drawer_box drawer_box
11 drawer_box drawer_box
18 drawer_box drawer_box
32 board board
5 drawer_front drawer_front
6 drawer_side drawer_side
7 drawer_side drawer_side
8 drawer_back drawer_back
9 drawer_bottom drawer_bottom
12 drawer_front drawer_front
13 drawer_side drawer_side
14 drawer_side drawer_side
15 drawer_back drawer_back
16 drawer_bottom drawer_bottom
19 drawer_front drawer_front
20 drawer_side drawer_side
21 drawer_side drawer_side
22 drawer_back drawer_back
23 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/19855/bounding_box.json b/PartNetMobility/Table/19855/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bb1e346bd7001b10afdc5c3b2a2e0b0ef1ec243
--- /dev/null
+++ b/PartNetMobility/Table/19855/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.567073, -0.847258, -0.400547], "max": [0.564644, 0.237438, 0.418972]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/19855/meta.json b/PartNetMobility/Table/19855/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..459b498d2351aa78721951f108b95188d8b99651
--- /dev/null
+++ b/PartNetMobility/Table/19855/meta.json
@@ -0,0 +1 @@
+{"model_id": "20edff7e1500fc4ed45f502ecff9e44f", "anno_id": "19855", "user_id": "shape08", "time_in_sec": "222", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/19855/mobility.urdf b/PartNetMobility/Table/19855/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..40ae73e5a65b148802b106774feb7a2042e4ba54
--- /dev/null
+++ b/PartNetMobility/Table/19855/mobility.urdf
@@ -0,0 +1,380 @@
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diff --git a/PartNetMobility/Table/19855/mobility_v2.json b/PartNetMobility/Table/19855/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1c4189361bef43131ec9b21bebc2e6e217c01af
--- /dev/null
+++ b/PartNetMobility/Table/19855/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"drawer","parts":[{"id":20,"name":"drawer_front","children":[]},{"id":24,"name":"drawer_bottom","children":[]},{"id":31,"name":"drawer_side","children":[]},{"id":32,"name":"drawer_side","children":[]},{"id":19,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.5960000000000001,"noLimit":false}}},{"id":1,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":30,"name":"board","children":[]},{"id":9,"name":"leg","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":14,"name":"bar_stretcher","children":[]},{"id":15,"name":"bar_stretcher","children":[]},{"id":16,"name":"bar_stretcher","children":[]},{"id":17,"name":"bar_stretcher","children":[]},{"id":25,"name":"tabletop_connector","children":[]},{"id":26,"name":"tabletop_connector","children":[]},{"id":27,"name":"tabletop_connector","children":[]},{"id":28,"name":"tabletop_connector","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/19855/result.json b/PartNetMobility/Table/19855/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..98e278eee87bb9c93e7e5d02808fd00651487ac2
--- /dev/null
+++ b/PartNetMobility/Table/19855/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-1"], "id": 30, "name": "board"}], "id": 29, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Leg", "objs": ["original-27", "original-28"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["original-37", "original-38"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-32", "original-33"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-22", "original-23"], "id": 12, "name": "leg"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-11"], "id": 20, "name": "drawer_front"}, {"text": "Drawer bottom", "objs": ["original-16"], "id": 24, "name": "drawer_bottom"}, {"text": "Drawer side", "objs": ["original-7"], "id": 31, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-6"], "id": 32, "name": "drawer_side"}], "id": 18, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-15"], "id": 19, "name": "handle"}], "id": 13, "name": "drawer"}, {"text": "Bar Stretcher", "objs": ["original-19", "original-39"], "id": 14, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-17", "original-34"], "id": 15, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-20", "original-24"], "id": 16, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-18", "original-29"], "id": 17, "name": "bar_stretcher"}, {"text": "Tabletop Connector", "objs": ["original-25", "original-3"], "id": 25, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-30", "original-5"], "id": 26, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-40", "original-2"], "id": 27, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-35", "original-4"], "id": 28, "name": "tabletop_connector"}], "id": 4, "name": "drawer_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/19855/result_after_merging.json b/PartNetMobility/Table/19855/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dad09bccc10f245cd4907e653d65324be389acf
--- /dev/null
+++ b/PartNetMobility/Table/19855/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "table", "name": "table", "ori_id": 0, "id": 0, "objs": ["original-1", "original-27", "original-28", "original-37", "original-38", "original-32", "original-33", "original-22", "original-23", "original-11", "original-16", "original-7", "original-6", "original-15", "original-19", "original-39", "original-17", "original-34", "original-20", "original-24", "original-18", "original-29", "original-25", "original-3", "original-30", "original-5", "original-40", "original-2", "original-35", "original-4"], "children": [{"text": "regular_table", "name": "regular_table", "ori_id": 1, "id": 1, "objs": ["original-1", "original-27", "original-28", "original-37", "original-38", "original-32", "original-33", "original-22", "original-23", "original-11", "original-16", "original-7", "original-6", "original-15", "original-19", "original-39", "original-17", "original-34", "original-20", "original-24", "original-18", "original-29", "original-25", "original-3", "original-30", "original-5", "original-40", "original-2", "original-35", "original-4"], "children": [{"text": "tabletop", "name": "tabletop", "ori_id": 2, "id": 2, "objs": ["original-1"], "children": [{"text": "tabletop_surface", "name": "tabletop_surface", "ori_id": 29, "id": 3, "objs": ["original-1"], "children": [{"id": 4, "text": "board", "name": "board", "objs": ["original-1"], "ori_id": 30}]}]}, {"text": "table_base", "name": "table_base", "ori_id": 3, "id": 5, "objs": ["original-27", "original-28", "original-37", "original-38", "original-32", "original-33", "original-22", "original-23", "original-11", "original-16", "original-7", "original-6", "original-15", "original-19", "original-39", "original-17", "original-34", "original-20", "original-24", "original-18", "original-29", "original-25", "original-3", "original-30", "original-5", "original-40", "original-2", "original-35", "original-4"], "children": [{"text": "drawer_base", "name": "drawer_base", "ori_id": 4, "id": 6, "objs": ["original-27", "original-28", "original-37", "original-38", "original-32", "original-33", "original-22", "original-23", "original-11", "original-16", "original-7", "original-6", "original-15", "original-19", "original-39", "original-17", "original-34", "original-20", "original-24", "original-18", "original-29", "original-25", "original-3", "original-30", "original-5", "original-40", "original-2", "original-35", "original-4"], "children": [{"id": 7, "text": "leg", "name": "leg", "objs": ["original-27", "original-28"], "ori_id": 9}, {"id": 8, "text": "leg", "name": "leg", "objs": ["original-37", "original-38"], "ori_id": 10}, {"id": 9, "text": "leg", "name": "leg", "objs": ["original-32", "original-33"], "ori_id": 11}, {"id": 10, "text": "leg", "name": "leg", "objs": ["original-22", "original-23"], "ori_id": 12}, {"text": "drawer", "name": "drawer", "ori_id": 13, "id": 11, "objs": ["original-11", "original-16", "original-7", "original-6", "original-15"], "children": [{"text": "drawer_box", "name": "drawer_box", "ori_id": 18, "id": 12, "objs": ["original-11", "original-16", "original-7", "original-6"], "children": [{"id": 13, "text": "drawer_front", "name": "drawer_front", "objs": ["original-11"], "ori_id": 20}, {"id": 14, "text": "drawer_bottom", "name": "drawer_bottom", "objs": ["original-16"], "ori_id": 24}, {"id": 15, "text": "drawer_side", "name": "drawer_side", "objs": ["original-7"], "ori_id": 31}, {"id": 16, "text": "drawer_side", "name": "drawer_side", "objs": ["original-6"], "ori_id": 32}]}, {"id": 17, "text": "handle", "name": "handle", "objs": ["original-15"], "ori_id": 19}]}, {"id": 18, "text": "bar_stretcher", "name": "bar_stretcher", "objs": ["original-19", "original-39"], "ori_id": 14}, {"id": 19, "text": "bar_stretcher", "name": "bar_stretcher", "objs": ["original-17", "original-34"], "ori_id": 15}, {"id": 20, "text": "bar_stretcher", "name": "bar_stretcher", "objs": ["original-20", "original-24"], "ori_id": 16}, {"id": 21, "text": "bar_stretcher", "name": "bar_stretcher", "objs": ["original-18", "original-29"], "ori_id": 17}, {"id": 22, "text": "tabletop_connector", "name": "tabletop_connector", "objs": ["original-25", "original-3"], "ori_id": 25}, {"id": 23, "text": "tabletop_connector", "name": "tabletop_connector", "objs": ["original-30", "original-5"], "ori_id": 26}, {"id": 24, "text": "tabletop_connector", "name": "tabletop_connector", "objs": ["original-40", "original-2"], "ori_id": 27}, {"id": 25, "text": "tabletop_connector", "name": "tabletop_connector", "objs": ["original-35", "original-4"], "ori_id": 28}]}]}]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/19855/semantics.txt b/PartNetMobility/Table/19855/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e633624fa79600e01561864dbeb1d30368693f9a
--- /dev/null
+++ b/PartNetMobility/Table/19855/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider drawer
+link_1 heavy furniture_body
diff --git a/PartNetMobility/Table/19855/tree_hier.html b/PartNetMobility/Table/19855/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..ff1142495cdc429d5074571494ff77ebc5e05a93
--- /dev/null
+++ b/PartNetMobility/Table/19855/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
29 tabletop_surface Tabletop surface
4 drawer_base Drawer Base
30 board Board
9 leg Leg
10 leg Leg
11 leg Leg
12 leg Leg
13 drawer Drawer
14 bar_stretcher Bar Stretcher
15 bar_stretcher Bar Stretcher
16 bar_stretcher Bar Stretcher
17 bar_stretcher Bar Stretcher
25 tabletop_connector Tabletop Connector
26 tabletop_connector Tabletop Connector
27 tabletop_connector Tabletop Connector
28 tabletop_connector Tabletop Connector
18 drawer_box Drawer box
19 handle Handle
20 drawer_front Drawer front
24 drawer_bottom Drawer bottom
31 drawer_side Drawer side
32 drawer_side Drawer side
\ No newline at end of file
diff --git a/PartNetMobility/Table/19855/tree_hier_after_merging.html b/PartNetMobility/Table/19855/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..9a65f43e6b2e1e0fa0f096e1e7ef94622fbbe37f
--- /dev/null
+++ b/PartNetMobility/Table/19855/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
6 drawer_base drawer_base
4 board board
7 leg leg
8 leg leg
9 leg leg
10 leg leg
11 drawer drawer
18 bar_stretcher bar_stretcher
19 bar_stretcher bar_stretcher
20 bar_stretcher bar_stretcher
21 bar_stretcher bar_stretcher
22 tabletop_connector tabletop_connector
23 tabletop_connector tabletop_connector
24 tabletop_connector tabletop_connector
25 tabletop_connector tabletop_connector
12 drawer_box drawer_box
17 handle handle
13 drawer_front drawer_front
14 drawer_bottom drawer_bottom
15 drawer_side drawer_side
16 drawer_side drawer_side
\ No newline at end of file
diff --git a/PartNetMobility/Table/19898/bounding_box.json b/PartNetMobility/Table/19898/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebcdc31d48c9bc3f912e51ed5eaa0adf6c4f4db5
--- /dev/null
+++ b/PartNetMobility/Table/19898/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.858451, -0.390954, -0.316943], "max": [0.905903, 0.596245, 0.54423]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/19898/meta.json b/PartNetMobility/Table/19898/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1045cd17ed8038e3bcd6ead98a49359241b8d8c3
--- /dev/null
+++ b/PartNetMobility/Table/19898/meta.json
@@ -0,0 +1 @@
+{"model_id": "1a53d35ef172a6febbaf0ab08a397b2", "anno_id": "19898", "user_id": "shape07", "time_in_sec": "1214", "version": "3", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/19898/mobility.urdf b/PartNetMobility/Table/19898/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dca6f068e76916df61b57054872e7561a595407e
--- /dev/null
+++ b/PartNetMobility/Table/19898/mobility.urdf
@@ -0,0 +1,1235 @@
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diff --git a/PartNetMobility/Table/19898/mobility_v2.json b/PartNetMobility/Table/19898/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..aecdb7cec162549eb0f50f2dd9e6d308c3688c49
--- /dev/null
+++ b/PartNetMobility/Table/19898/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":8,"joint":"hinge","name":"cabinet_door_surface","parts":[{"id":81,"name":"cabinet_door_surface","children":[]}],"jointData":{"axis":{"origin":[-0.7955540727153894,0.2811810000000001,0.29567901973132327],"direction":[0,1,0]},"limit":{"a":89.64,"b":0,"noLimit":false}}},{"id":1,"parent":8,"joint":"slider","name":"drawer","parts":[{"id":137,"name":"drawer_front","children":[]},{"id":138,"name":"drawer_side","children":[]},{"id":139,"name":"drawer_side","children":[]},{"id":140,"name":"drawer_back","children":[]},{"id":141,"name":"drawer_bottom","children":[]},{"id":136,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.31199999999999983,"noLimit":false}}},{"id":2,"parent":8,"joint":"slider","name":"drawer","parts":[{"id":130,"name":"drawer_front","children":[]},{"id":131,"name":"drawer_side","children":[]},{"id":132,"name":"drawer_side","children":[]},{"id":133,"name":"drawer_back","children":[]},{"id":134,"name":"drawer_bottom","children":[]},{"id":129,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.31199999999999983,"noLimit":false}}},{"id":3,"parent":8,"joint":"slider","name":"drawer","parts":[{"id":123,"name":"drawer_front","children":[]},{"id":124,"name":"drawer_side","children":[]},{"id":125,"name":"drawer_side","children":[]},{"id":126,"name":"drawer_back","children":[]},{"id":127,"name":"drawer_bottom","children":[]},{"id":122,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.31199999999999983,"noLimit":false}}},{"id":4,"parent":8,"joint":"hinge","name":"drawer","parts":[{"id":120,"name":"drawer_front","children":[]},{"id":119,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,-0.343421514388804,-0.08034993007779123],"direction":[1,0,0]},"limit":{"a":0,"b":69.12,"noLimit":false}}},{"id":5,"parent":8,"joint":"slider","name":"drawer","parts":[{"id":113,"name":"drawer_front","children":[]},{"id":114,"name":"drawer_side","children":[]},{"id":115,"name":"drawer_side","children":[]},{"id":116,"name":"drawer_back","children":[]},{"id":117,"name":"drawer_bottom","children":[]},{"id":112,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.31199999999999983,"noLimit":false}}},{"id":6,"parent":8,"joint":"slider","name":"drawer","parts":[{"id":106,"name":"drawer_front","children":[]},{"id":107,"name":"drawer_side","children":[]},{"id":108,"name":"drawer_side","children":[]},{"id":109,"name":"drawer_back","children":[]},{"id":110,"name":"drawer_bottom","children":[]},{"id":105,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.31199999999999983,"noLimit":false}}},{"id":7,"parent":8,"joint":"slider","name":"drawer","parts":[{"id":99,"name":"drawer_front","children":[]},{"id":100,"name":"drawer_side","children":[]},{"id":101,"name":"drawer_side","children":[]},{"id":102,"name":"drawer_back","children":[]},{"id":103,"name":"drawer_bottom","children":[]},{"id":98,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.31199999999999983,"noLimit":false}}},{"id":8,"parent":-1,"joint":"heavy","name":"foot","parts":[{"id":52,"name":"foot","children":[]},{"id":148,"name":"board","children":[]},{"id":147,"name":"other_leaf","children":[]},{"id":145,"name":"other_leaf","children":[]},{"id":146,"name":"other_leaf","children":[]},{"id":40,"name":"vertical_side_panel","children":[]},{"id":41,"name":"vertical_side_panel","children":[]},{"id":42,"name":"vertical_side_panel","children":[]},{"id":43,"name":"vertical_side_panel","children":[]},{"id":44,"name":"bottom_panel","children":[]},{"id":45,"name":"foot","children":[]},{"id":46,"name":"foot","children":[]},{"id":47,"name":"foot","children":[]},{"id":48,"name":"foot","children":[]},{"id":49,"name":"foot","children":[]},{"id":50,"name":"foot","children":[]},{"id":51,"name":"foot","children":[]},{"id":53,"name":"foot","children":[]},{"id":54,"name":"foot","children":[]},{"id":55,"name":"tabletop_connector","children":[]},{"id":56,"name":"tabletop_connector","children":[]},{"id":65,"name":"back_panel","children":[]},{"id":66,"name":"back_panel","children":[]},{"id":67,"name":"back_panel","children":[]},{"id":68,"name":"vertical_divider_panel","children":[]},{"id":77,"name":"vertical_front_panel","children":[]},{"id":78,"name":"vertical_front_panel","children":[]},{"id":80,"name":"other_leaf","children":[]},{"id":95,"name":"back_panel","children":[]},{"id":96,"name":"back_panel","children":[]},{"id":23,"name":"back_panel","children":[]},{"id":24,"name":"vertical_side_panel","children":[]},{"id":25,"name":"vertical_side_panel","children":[]},{"id":26,"name":"top_panel","children":[]},{"id":29,"name":"drawer_front","children":[]},{"id":11,"name":"shelf","children":[]},{"id":12,"name":"vertical_s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\ No newline at end of file
diff --git a/PartNetMobility/Table/19898/result.json b/PartNetMobility/Table/19898/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..822eb14ada7461752c3c3a7fbee0d8c4670324fa
--- /dev/null
+++ b/PartNetMobility/Table/19898/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-34"], "id": 148, "name": "board"}], "id": 142, "name": "tabletop_surface"}, {"text": "Baffle (other)", "children": [{"text": "other_leaf", "objs": ["original-70", "new-6"], "id": 147, "name": "other_leaf"}], "id": 143, "name": "other"}, {"text": "Small board (other)", "children": [{"text": "other_leaf", "objs": ["original-81"], "id": 145, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-82"], "id": 146, "name": "other_leaf"}], "id": 144, "name": "other"}], "id": 2, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Vertical side panel", "objs": ["original-23"], "id": 40, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-19"], "id": 41, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-20"], "id": 42, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-1"], "id": 43, "name": "vertical_side_panel"}, {"text": "Bottom panel", "objs": ["original-16", "original-18", "original-17"], "id": 44, "name": "bottom_panel"}, {"text": "Foot", "objs": ["original-28"], "id": 45, "name": "foot"}, {"text": "Foot", "objs": ["original-24"], "id": 46, "name": "foot"}, {"text": "Foot", "objs": ["original-27"], "id": 47, "name": "foot"}, {"text": "Foot", "objs": ["original-26"], "id": 48, "name": "foot"}, {"text": "Foot", "objs": ["original-25"], "id": 49, "name": "foot"}, {"text": "Foot", "objs": ["original-33"], "id": 50, "name": "foot"}, {"text": "Foot", "objs": ["original-31"], "id": 51, "name": "foot"}, {"text": "Foot", "objs": ["original-29"], "id": 52, "name": "foot"}, {"text": "Foot", "objs": ["original-32"], "id": 53, "name": "foot"}, {"text": "Foot", "objs": ["original-30"], "id": 54, "name": "foot"}, {"text": "Tabletop Connector", "objs": ["original-22"], "id": 55, "name": 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\ No newline at end of file
diff --git a/PartNetMobility/Table/19898/result_after_merging.json b/PartNetMobility/Table/19898/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..d61042787838b1b231d26ec668dd638fc5ee3ba7
--- /dev/null
+++ b/PartNetMobility/Table/19898/result_after_merging.json
@@ -0,0 +1 @@
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{"objs": ["original-4"], "text": "back_panel", "ori_id": 96, "name": "back_panel", "id": 84}], "text": "drawer_base", "ori_id": 3, "name": "drawer_base", "id": 5}], "text": "regular_table", "ori_id": 1, "name": "regular_table", "id": 1}], "text": "table", "ori_id": 0, "name": "table", "id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/19898/semantics.txt b/PartNetMobility/Table/19898/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..495c8f37c71f699c25f52ddffa70e3b0d4c8b17f
--- /dev/null
+++ b/PartNetMobility/Table/19898/semantics.txt
@@ -0,0 +1,9 @@
+link_0 hinge door
+link_1 slider drawer
+link_2 slider drawer
+link_3 slider drawer
+link_4 hinge door
+link_5 slider drawer
+link_6 slider drawer
+link_7 slider drawer
+link_8 heavy furniture_body
diff --git a/PartNetMobility/Table/19898/tree_hier.html b/PartNetMobility/Table/19898/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..faefd5a2dcff5c11bc471ec90e1ac4e041b2f45e
--- /dev/null
+++ b/PartNetMobility/Table/19898/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 desk Desk
2 tabletop Tabletop
3 drawer_base Drawer Base
4 hutch Hutch
5 hutch Hutch
142 tabletop_surface Tabletop surface
143 other Baffle (other)
144 other Small board (other)
40 vertical_side_panel Vertical side panel
41 vertical_side_panel Vertical side panel
42 vertical_side_panel Vertical side panel
43 vertical_side_panel Vertical side panel
44 bottom_panel Bottom panel
45 foot Foot
46 foot Foot
47 foot Foot
48 foot Foot
49 foot Foot
50 foot Foot
51 foot Foot
52 foot Foot
53 foot Foot
54 foot Foot
55 tabletop_connector Tabletop Connector
56 tabletop_connector Tabletop Connector
65 back_panel Back panel
66 back_panel Back panel
67 back_panel Back panel
68 vertical_divider_panel Vertical divider panel
76 cabinet_door Cabinet door
77 vertical_front_panel Vertical Front Panel
78 vertical_front_panel Vertical Front Panel
79 other Top panel (other)
88 drawer Drawer
89 drawer Drawer
90 drawer Drawer
91 drawer Drawer
92 drawer Drawer
93 drawer Drawer
94 drawer Drawer
95 back_panel Back panel
96 back_panel Back panel
23 back_panel Back panel
24 vertical_side_panel Vertical side panel
25 vertical_side_panel Vertical side panel
26 top_panel Top panel
27 drawer Drawer
11 shelf Shelf
12 vertical_side_panel Vertical side panel
13 vertical_side_panel Vertical side panel
14 top_panel Top panel
15 other Bottom panel (other)
148 board Board
147 other_leaf other_leaf
145 other_leaf other_leaf
146 other_leaf other_leaf
81 cabinet_door_surface Cabinet door surface
80 other_leaf other_leaf
135 drawer_box Drawer box
136 handle Handle
128 drawer_box Drawer box
129 handle Handle
121 drawer_box Drawer box
122 handle Handle
118 drawer_box Drawer box
119 handle Handle
111 drawer_box Drawer box
112 handle Handle
104 drawer_box Drawer box
105 handle Handle
97 drawer_box Drawer box
98 handle Handle
28 drawer_box Drawer box
16 other_leaf other_leaf
137 drawer_front Drawer front
138 drawer_side Drawer side
139 drawer_side Drawer side
140 drawer_back Drawer back
141 drawer_bottom Drawer bottom
130 drawer_front Drawer front
131 drawer_side Drawer side
132 drawer_side Drawer side
133 drawer_back Drawer back
134 drawer_bottom Drawer bottom
123 drawer_front Drawer front
124 drawer_side Drawer side
125 drawer_side Drawer side
126 drawer_back Drawer back
127 drawer_bottom Drawer bottom
120 drawer_front Drawer front
113 drawer_front Drawer front
114 drawer_side Drawer side
115 drawer_side Drawer side
116 drawer_back Drawer back
117 drawer_bottom Drawer bottom
106 drawer_front Drawer front
107 drawer_side Drawer side
108 drawer_side Drawer side
109 drawer_back Drawer back
110 drawer_bottom Drawer bottom
99 drawer_front Drawer front
100 drawer_side Drawer side
101 drawer_side Drawer side
102 drawer_back Drawer back
103 drawer_bottom Drawer bottom
29 drawer_front Drawer front
\ No newline at end of file
diff --git a/PartNetMobility/Table/19898/tree_hier_after_merging.html b/PartNetMobility/Table/19898/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..5191929814545c26031660c66c0abe6c65b511f5
--- /dev/null
+++ b/PartNetMobility/Table/19898/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 drawer_base drawer_base
3 tabletop_surface tabletop_surface
6 vertical_side_panel vertical_side_panel
7 vertical_side_panel vertical_side_panel
8 vertical_side_panel vertical_side_panel
9 vertical_side_panel vertical_side_panel
10 bottom_panel bottom_panel
11 foot foot
12 foot foot
13 foot foot
14 foot foot
15 foot foot
16 foot foot
17 foot foot
18 foot foot
19 foot foot
20 foot foot
21 tabletop_connector tabletop_connector
22 tabletop_connector tabletop_connector
23 back_panel back_panel
24 back_panel back_panel
25 back_panel back_panel
26 vertical_divider_panel vertical_divider_panel
27 cabinet_door cabinet_door
29 vertical_front_panel vertical_front_panel
30 vertical_front_panel vertical_front_panel
31 drawer drawer
39 drawer drawer
47 drawer drawer
55 drawer drawer
59 drawer drawer
67 drawer drawer
75 drawer drawer
83 back_panel back_panel
84 back_panel back_panel
4 board board
28 cabinet_door_surface cabinet_door_surface
32 drawer_box drawer_box
38 handle handle
40 drawer_box drawer_box
46 handle handle
48 drawer_box drawer_box
54 handle handle
56 drawer_box drawer_box
58 handle handle
60 drawer_box drawer_box
66 handle handle
68 drawer_box drawer_box
74 handle handle
76 drawer_box drawer_box
82 handle handle
33 drawer_front drawer_front
34 drawer_side drawer_side
35 drawer_side drawer_side
36 drawer_back drawer_back
37 drawer_bottom drawer_bottom
41 drawer_front drawer_front
42 drawer_side drawer_side
43 drawer_side drawer_side
44 drawer_back drawer_back
45 drawer_bottom drawer_bottom
49 drawer_front drawer_front
50 drawer_side drawer_side
51 drawer_side drawer_side
52 drawer_back drawer_back
53 drawer_bottom drawer_bottom
57 drawer_front drawer_front
61 drawer_front drawer_front
62 drawer_side drawer_side
63 drawer_side drawer_side
64 drawer_back drawer_back
65 drawer_bottom drawer_bottom
69 drawer_front drawer_front
70 drawer_side drawer_side
71 drawer_side drawer_side
72 drawer_back drawer_back
73 drawer_bottom drawer_bottom
77 drawer_front drawer_front
78 drawer_side drawer_side
79 drawer_side drawer_side
80 drawer_back drawer_back
81 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/20077/bounding_box.json b/PartNetMobility/Table/20077/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..35a46c117d6782cc23ba2ec22ae183a03cba4095
--- /dev/null
+++ b/PartNetMobility/Table/20077/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.825193, -0.315767, -0.575143], "max": [0.897882, 0.125224, 0.567769]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/20077/meta.json b/PartNetMobility/Table/20077/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b27d5b50ceab171b52420678257a68c290309c3
--- /dev/null
+++ b/PartNetMobility/Table/20077/meta.json
@@ -0,0 +1 @@
+{"model_id": "233c497df4d252aea5e91f4d594e20e6", "anno_id": "20077", "user_id": "shape07", "time_in_sec": "4119", "version": "4", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/20077/mobility.urdf b/PartNetMobility/Table/20077/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a3040751d5d96b78b4589a5b17d5a20cd9eec90
--- /dev/null
+++ b/PartNetMobility/Table/20077/mobility.urdf
@@ -0,0 +1,723 @@
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diff --git a/PartNetMobility/Table/20077/mobility_v2.json b/PartNetMobility/Table/20077/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..08623bfe63f8c9f69a9b215eac49135b2bfa6e4d
--- /dev/null
+++ b/PartNetMobility/Table/20077/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"wheel","parts":[{"id":92,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.7597621346552594,-0.2466287361902017,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":8,"joint":"hinge","name":"caster_stem","parts":[{"id":94,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.7197734000190394,-0.145177513952651,-0.48714965770798924],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":89,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.761583,-0.2425984392936612,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":0,"joint":"hinge","name":"caster_stem","parts":[{"id":99,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.7230019434400667,-0.1304160000000003,0.46104189111042804],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":5,"joint":"hinge","name":"wheel","parts":[{"id":86,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.6649084401958452,-0.24362204963035328,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":8,"joint":"hinge","name":"caster_stem","parts":[{"id":97,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.704996,0,0.45933250000000003],"direction":[0,-1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":83,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.6638180626269939,-0.2422565,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":8,"joint":"hinge","name":"caster_stem","parts":[{"id":95,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.7039055000000001,0,-0.477061],"direction":[0,-1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":-1,"joint":"heavy","name":"tabletop","parts":[{"id":62,"name":"glass","children":[]},{"id":61,"name":"bar","children":[]},{"id":72,"name":"tabletop_connector","children":[]},{"id":73,"name":"tabletop_connector","children":[]},{"id":78,"name":"tabletop_connector","children":[]},{"id":79,"name":"tabletop_connector","children":[]},{"id":80,"name":"tabletop_connector","children":[]},{"id":91,"name":"caster_mounting_plate","children":[]},{"id":93,"name":"brake","children":[]},{"id":88,"name":"caster_mounting_plate","children":[]},{"id":100,"name":"brake","children":[]},{"id":85,"name":"caster_mounting_plate","children":[]},{"id":98,"name":"brake","children":[]},{"id":82,"name":"caster_mounting_plate","children":[]},{"id":96,"name":"brake","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/20077/result.json b/PartNetMobility/Table/20077/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..82f0d35062251492bc16b8a562e16cedce80948b
--- /dev/null
+++ b/PartNetMobility/Table/20077/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Glass", "objs": ["original-19"], "id": 62, "name": "glass"}], "id": 59, "name": "tabletop_surface"}, {"text": "Tabletop frame", "children": [{"text": "Bar", "objs": ["original-17", "original-14", "original-13", "original-7"], "id": 61, "name": "bar"}], "id": 60, "name": "tabletop_frame"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Irregular Base", "children": [{"text": "Tabletop Connector", "objs": ["original-76"], "id": 72, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-77"], "id": 73, "name": "tabletop_connector"}, {"text": "Wheel Assembly", "children": [{"text": "Mounting Plate", "objs": ["original-44", "original-40"], "id": 91, "name": "caster_mounting_plate"}, {"text": "Wheel", "objs": ["original-36", "original-38"], "id": 92, "name": "wheel"}, {"text": "Brake", "objs": ["original-35", "original-41"], "id": 93, "name": "brake"}, {"text": "Caster Stem", "objs": ["original-37", "original-43", "original-39", "original-47", "original-46"], "id": 94, "name": "caster_stem"}], "id": 74, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Mounting Plate", "objs": ["original-58", "original-54"], "id": 88, "name": "caster_mounting_plate"}, {"text": "Wheel", "objs": ["original-50", "original-52"], "id": 89, "name": "wheel"}, {"text": "Caster Stem", "objs": ["original-61", "original-53", "original-57", "original-60", "original-51"], "id": 99, "name": "caster_stem"}, {"text": "Brake", "objs": ["original-49", "original-55"], "id": 100, "name": "brake"}], "id": 75, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Mounting Plate", "objs": ["original-30", "original-26"], "id": 85, "name": "caster_mounting_plate"}, {"text": "Wheel", "objs": ["original-24", "original-22"], "id": 86, "name": "wheel"}, {"text": "Caster Stem", "objs": ["original-33", "original-29", "original-23", "original-25", "original-32"], "id": 97, "name": "caster_stem"}, {"text": "Brake", "objs": ["original-21", "original-27"], "id": 98, "name": "brake"}], "id": 76, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Mounting Plate", "objs": ["original-71", "original-68", "original-72"], "id": 82, "name": "caster_mounting_plate"}, {"text": "Wheel", "objs": ["original-66", "original-64"], "id": 83, "name": "wheel"}, {"text": "Caster Stem", "objs": ["original-65", "original-75", "original-74", "original-67"], "id": 95, "name": "caster_stem"}, {"text": "Brake", "objs": ["original-63", "original-69"], "id": 96, "name": "brake"}], "id": 77, "name": "caster"}, {"text": "Tabletop Connector", "objs": ["original-4"], "id": 78, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-6"], "id": 79, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-5"], "id": 80, "name": "tabletop_connector"}], "id": 65, "name": "irregular_base"}], "id": 64, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/20077/result_after_merging.json b/PartNetMobility/Table/20077/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..047fa65e5a8d178c29487164feaa3c829042f40d
--- /dev/null
+++ b/PartNetMobility/Table/20077/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "table", "children": [{"name": "regular_table", "children": [{"name": "tabletop", "children": [{"name": "tabletop_surface", "children": [{"name": "glass", "id": 4, "text": "glass", "ori_id": 62, "objs": ["original-19"]}], "ori_id": 59, "objs": ["original-19"], "id": 3, "text": "tabletop_surface"}, {"name": "tabletop_frame", "children": [{"name": "bar", "id": 6, "text": "bar", "ori_id": 61, "objs": ["original-17", "original-14", "original-13", "original-7"]}], "ori_id": 60, "objs": ["original-17", "original-14", "original-13", "original-7"], "id": 5, "text": "tabletop_frame"}], "ori_id": 2, "objs": ["original-19", "original-17", "original-14", "original-13", "original-7"], "id": 2, "text": "tabletop"}, {"name": "table_base", "id": 7, "text": "table_base", "ori_id": 64, "objs": ["original-76", "original-77", "original-44", "original-40", "original-36", "original-38", "original-35", "original-41", "original-37", "original-43", "original-39", "original-47", "original-46", "original-58", "original-54", "original-50", "original-52", "original-61", "original-53", "original-57", "original-60", "original-51", "original-49", "original-55", "original-30", "original-26", "original-24", "original-22", "original-33", "original-29", "original-23", "original-25", "original-32", "original-21", "original-27", "original-71", "original-68", "original-72", "original-66", "original-64", "original-65", "original-75", "original-74", "original-67", "original-63", "original-69", "original-4", "original-6", "original-5"]}], "ori_id": 1, "objs": ["original-19", "original-17", "original-14", "original-13", "original-7", "original-76", "original-77", "original-44", "original-40", "original-36", "original-38", "original-35", "original-41", "original-37", "original-43", "original-39", "original-47", "original-46", "original-58", "original-54", "original-50", "original-52", "original-61", "original-53", "original-57", "original-60", "original-51", "original-49", "original-55", "original-30", "original-26", "original-24", "original-22", "original-33", "original-29", "original-23", "original-25", "original-32", "original-21", "original-27", "original-71", "original-68", "original-72", "original-66", "original-64", "original-65", "original-75", "original-74", "original-67", "original-63", "original-69", "original-4", "original-6", "original-5"], "id": 1, "text": "regular_table"}], "ori_id": 0, "objs": ["original-19", "original-17", "original-14", "original-13", "original-7", "original-76", "original-77", "original-44", "original-40", "original-36", "original-38", "original-35", "original-41", "original-37", "original-43", "original-39", "original-47", "original-46", "original-58", "original-54", "original-50", "original-52", "original-61", "original-53", "original-57", "original-60", "original-51", "original-49", "original-55", "original-30", "original-26", "original-24", "original-22", "original-33", "original-29", "original-23", "original-25", "original-32", "original-21", "original-27", "original-71", "original-68", "original-72", "original-66", "original-64", "original-65", "original-75", "original-74", "original-67", "original-63", "original-69", "original-4", "original-6", "original-5"], "id": 0, "text": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/20077/semantics.txt b/PartNetMobility/Table/20077/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f0362edcf802a18eb83cea963f2ec636743a2034
--- /dev/null
+++ b/PartNetMobility/Table/20077/semantics.txt
@@ -0,0 +1,9 @@
+link_0 hinge wheel
+link_1 hinge caster
+link_2 hinge wheel
+link_3 hinge caster
+link_4 hinge wheel
+link_5 hinge caster
+link_6 hinge wheel
+link_7 hinge caster
+link_8 heavy furniture_body
diff --git a/PartNetMobility/Table/20077/tree_hier.html b/PartNetMobility/Table/20077/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..3167807ed7126f79c107cd05fb943230856d50f4
--- /dev/null
+++ b/PartNetMobility/Table/20077/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
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2 tabletop Tabletop
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77 caster Wheel Assembly
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91 caster_mounting_plate Mounting Plate
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93 brake Brake
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85 caster_mounting_plate Mounting Plate
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97 caster_stem Caster Stem
98 brake Brake
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83 wheel Wheel
95 caster_stem Caster Stem
96 brake Brake
\ No newline at end of file
diff --git a/PartNetMobility/Table/20077/tree_hier_after_merging.html b/PartNetMobility/Table/20077/tree_hier_after_merging.html
new file mode 100644
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+Simple Viewer
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1 regular_table regular_table
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7 table_base table_base
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5 tabletop_frame tabletop_frame
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\ No newline at end of file
diff --git a/PartNetMobility/Table/20279/bounding_box.json b/PartNetMobility/Table/20279/bounding_box.json
new file mode 100644
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\ No newline at end of file
diff --git a/PartNetMobility/Table/20279/meta.json b/PartNetMobility/Table/20279/meta.json
new file mode 100644
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\ No newline at end of file
diff --git a/PartNetMobility/Table/20279/mobility.urdf b/PartNetMobility/Table/20279/mobility.urdf
new file mode 100644
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diff --git a/PartNetMobility/Table/20279/mobility_v2.json b/PartNetMobility/Table/20279/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..912106f18d6caed16c9b5d40d360efd40bc106d2
--- /dev/null
+++ b/PartNetMobility/Table/20279/mobility_v2.json
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\ No newline at end of file
diff --git a/PartNetMobility/Table/20279/result.json b/PartNetMobility/Table/20279/result.json
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/20279/result.json
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+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-23"], "id": 32, "name": "board"}], "id": 31, "name": "tabletop_surface"}, {"text": "Tabletop frame", "children": [{"text": "Bar", "objs": ["original-16"], "id": 34, "name": "bar"}, {"text": "Bar", "objs": ["original-15"], "id": 35, "name": "bar"}, {"text": "Bar", "objs": ["original-17"], "id": 36, "name": "bar"}, {"text": "Bar", "objs": ["original-14"], "id": 37, "name": "bar"}], "id": 33, "name": "tabletop_frame"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Tabletop Connector", "objs": ["original-18"], "id": 14, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-11"], "id": 15, "name": "tabletop_connector"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-4"], "id": 26, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-5"], "id": 27, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-2"], "id": 28, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-3"], "id": 29, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-6"], "id": 30, "name": "drawer_bottom"}], "id": 23, "name": "drawer_box"}, {"text": "Drawer rails", "objs": ["original-21", "original-22"], "id": 24, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-19", "original-20"], "id": 25, "name": "drawer_rails"}], "id": 16, "name": "drawer"}, {"text": "Back panel", "objs": ["original-13"], "id": 17, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-12"], "id": 18, "name": "vertical_side_panel"}, {"text": "Leg", "objs": ["original-8"], "id": 19, "name": "leg"}, {"text": "Leg", "objs": ["original-10"], "id": 20, "name": "leg"}, {"text": "Leg", "objs": ["original-9"], "id": 21, "name": "leg"}, {"text": "Leg", "objs": ["original-7"], "id": 22, "name": "leg"}], "id": 4, "name": "drawer_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/20279/result_after_merging.json b/PartNetMobility/Table/20279/result_after_merging.json
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/20279/result_after_merging.json
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+[{"ori_id": 0, "text": "table", "children": [{"ori_id": 1, "text": "regular_table", "children": [{"ori_id": 2, "text": "tabletop", "children": [{"ori_id": 31, "text": "tabletop_surface", "children": [{"name": "board", "text": "board", "ori_id": 32, "objs": ["original-23"], "id": 4}], "name": "tabletop_surface", "objs": ["original-23"], "id": 3}, {"ori_id": 33, "text": "tabletop_frame", "children": [{"name": "bar", "text": "bar", "ori_id": 34, "objs": ["original-16"], "id": 6}, {"name": "bar", "text": "bar", "ori_id": 35, "objs": ["original-15"], "id": 7}, {"name": "bar", "text": "bar", "ori_id": 36, "objs": ["original-17"], "id": 8}, {"name": "bar", "text": "bar", "ori_id": 37, "objs": ["original-14"], "id": 9}], "name": "tabletop_frame", "objs": ["original-16", "original-15", "original-17", "original-14"], "id": 5}], "name": "tabletop", "objs": ["original-23", "original-16", "original-15", "original-17", "original-14"], "id": 2}, {"ori_id": 3, "text": "table_base", "children": [{"ori_id": 4, "text": "drawer_base", "children": [{"name": "tabletop_connector", "text": "tabletop_connector", "ori_id": 14, "objs": ["original-18"], "id": 12}, {"name": "tabletop_connector", "text": "tabletop_connector", "ori_id": 15, "objs": ["original-11"], "id": 13}, {"ori_id": 16, "text": "drawer", "children": [{"ori_id": 23, "text": "drawer_box", "children": [{"name": "drawer_front", "text": "drawer_front", "ori_id": 26, "objs": ["original-4"], "id": 16}, {"name": "drawer_side", "text": "drawer_side", "ori_id": 27, "objs": ["original-5"], "id": 17}, {"name": "drawer_side", "text": "drawer_side", "ori_id": 28, "objs": ["original-2"], "id": 18}, {"name": "drawer_back", "text": "drawer_back", "ori_id": 29, "objs": ["original-3"], "id": 19}, {"name": "drawer_bottom", "text": "drawer_bottom", "ori_id": 30, "objs": ["original-6"], "id": 20}], "name": "drawer_box", "objs": ["original-4", "original-5", "original-2", "original-3", "original-6"], "id": 15}], "name": "drawer", "objs": ["original-4", "original-5", "original-2", "original-3", "original-6", "original-21", "original-22", "original-19", "original-20"], "id": 14}, {"name": "back_panel", "text": "back_panel", "ori_id": 17, "objs": ["original-13"], "id": 21}, {"name": "vertical_side_panel", "text": "vertical_side_panel", "ori_id": 18, "objs": ["original-12"], "id": 22}, {"name": "leg", "text": "leg", "ori_id": 19, "objs": ["original-8"], "id": 23}, {"name": "leg", "text": "leg", "ori_id": 20, "objs": ["original-10"], "id": 24}, {"name": "leg", "text": "leg", "ori_id": 21, "objs": ["original-9"], "id": 25}, {"name": "leg", "text": "leg", "ori_id": 22, "objs": ["original-7"], "id": 26}], "name": "drawer_base", "objs": ["original-18", "original-11", "original-4", "original-5", "original-2", "original-3", "original-6", "original-21", "original-22", "original-19", "original-20", "original-13", "original-12", "original-8", "original-10", "original-9", "original-7"], "id": 11}], "name": "table_base", "objs": ["original-18", "original-11", "original-4", "original-5", "original-2", "original-3", "original-6", "original-21", "original-22", "original-19", "original-20", "original-13", "original-12", "original-8", "original-10", "original-9", "original-7"], "id": 10}], "name": "regular_table", "objs": ["original-23", "original-16", "original-15", "original-17", "original-14", "original-18", "original-11", "original-4", "original-5", "original-2", "original-3", "original-6", "original-21", "original-22", "original-19", "original-20", "original-13", "original-12", "original-8", "original-10", "original-9", "original-7"], "id": 1}], "name": "table", "objs": ["original-23", "original-16", "original-15", "original-17", "original-14", "original-18", "original-11", "original-4", "original-5", "original-2", "original-3", "original-6", "original-21", "original-22", "original-19", "original-20", "original-13", "original-12", "original-8", "original-10", "original-9", "original-7"], "id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/20279/semantics.txt b/PartNetMobility/Table/20279/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e633624fa79600e01561864dbeb1d30368693f9a
--- /dev/null
+++ b/PartNetMobility/Table/20279/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider drawer
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diff --git a/PartNetMobility/Table/20279/tree_hier.html b/PartNetMobility/Table/20279/tree_hier.html
new file mode 100644
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@@ -0,0 +1,2 @@
+Simple Viewer
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2 tabletop Tabletop
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29 drawer_back Drawer back
30 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/20279/tree_hier_after_merging.html b/PartNetMobility/Table/20279/tree_hier_after_merging.html
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/20279/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
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10 table_base table_base
3 tabletop_surface tabletop_surface
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12 tabletop_connector tabletop_connector
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21 back_panel back_panel
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\ No newline at end of file
diff --git a/PartNetMobility/Table/22241/bounding_box.json b/PartNetMobility/Table/22241/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..666dea347d4c321b6610c284738ed5c288899173
--- /dev/null
+++ b/PartNetMobility/Table/22241/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.515437, -0.816556, -1.296296], "max": [0.158495, 0.395458, -0.321012]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/22241/meta.json b/PartNetMobility/Table/22241/meta.json
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/22241/meta.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/22241/mobility.urdf b/PartNetMobility/Table/22241/mobility.urdf
new file mode 100644
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diff --git a/PartNetMobility/Table/22241/mobility_v2.json b/PartNetMobility/Table/22241/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f30504c6dde4e4c130b1f5ca2a6ff8e8abf3f5ca
--- /dev/null
+++ b/PartNetMobility/Table/22241/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"drawer","parts":[{"id":24,"name":"drawer_back","children":[]},{"id":25,"name":"drawer_bottom","children":[]},{"id":26,"name":"drawer_front","children":[]},{"id":27,"name":"drawer_side","children":[]},{"id":28,"name":"drawer_side","children":[]},{"id":19,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.6960000000000002,"noLimit":false}}},{"id":1,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":21,"name":"board","children":[]},{"id":10,"name":"shelf","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]},{"id":14,"name":"leg","children":[]},{"id":16,"name":"bar_stretcher","children":[]},{"id":17,"name":"bar_stretcher","children":[]},{"id":33,"name":"tabletop_connector","children":[]},{"id":34,"name":"tabletop_connector","children":[]},{"id":35,"name":"tabletop_connector","children":[]},{"id":36,"name":"bar_stretcher","children":[]},{"id":37,"name":"bar_stretcher","children":[]},{"id":38,"name":"bar_stretcher","children":[]},{"id":39,"name":"bar_stretcher","children":[]},{"id":40,"name":"tabletop_connector","children":[]},{"id":41,"name":"tabletop_connector","children":[]},{"id":42,"name":"tabletop_connector","children":[]},{"id":43,"name":"tabletop_connector","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/22241/result.json b/PartNetMobility/Table/22241/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..aab643afa038360fdd5ec157798ebd538a974fe5
--- /dev/null
+++ b/PartNetMobility/Table/22241/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-33"], "low_conf_reason": "", "id": 21, "name": "board"}], "id": 20, "name": "tabletop_surface"}], "id": 6, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Shelf", "objs": ["original-24", "original-25", "original-23"], "id": 10, "name": "shelf"}, {"text": "Leg", "objs": ["original-10"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-22"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-21"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-8"], "id": 14, "name": "leg"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer back", "objs": ["original-5"], "id": 24, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-4"], "id": 25, "name": "drawer_bottom"}, {"text": "Drawer front", "objs": ["original-2"], "id": 26, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-6"], "id": 27, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-3"], "id": 28, "name": "drawer_side"}], "id": 18, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-34"], "id": 19, "name": "handle"}], "id": 15, "name": "drawer"}, {"text": "Bar Stretcher", "objs": ["original-7"], "id": 16, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-16"], "id": 17, "name": "bar_stretcher"}, {"text": "Tabletop Connector", "objs": ["original-13"], "id": 33, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-18"], "id": 34, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-11"], "id": 35, "name": "tabletop_connector"}, {"text": "Bar Stretcher", "objs": ["original-27", "original-32"], "id": 36, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-31", "original-28"], "id": 37, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-9", "original-29"], "id": 38, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-26", "original-30"], "id": 39, "name": "bar_stretcher"}, {"text": "Tabletop Connector", "objs": ["original-20"], "id": 40, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-15"], "id": 41, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-19"], "id": 42, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-14"], "id": 43, "name": "tabletop_connector"}], "id": 8, "name": "drawer_base"}], "id": 7, "name": "table_base"}], "id": 5, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/22241/result_after_merging.json b/PartNetMobility/Table/22241/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..ded7022ae67725556aa56d75bc9b0c6f213ae0ea
--- /dev/null
+++ b/PartNetMobility/Table/22241/result_after_merging.json
@@ -0,0 +1 @@
+[{"ori_id": 0, "name": "table", "id": 0, "objs": ["original-33", "original-24", "original-25", "original-23", "original-10", "original-22", "original-21", "original-8", "original-5", "original-4", "original-2", "original-6", "original-3", "original-34", "original-7", "original-16", "original-13", "original-18", "original-11", "original-27", "original-32", "original-31", "original-28", "original-9", "original-29", "original-26", "original-30", "original-20", "original-15", "original-19", "original-14"], "children": [{"ori_id": 5, "name": "regular_table", "id": 1, "objs": ["original-33", "original-24", "original-25", "original-23", "original-10", "original-22", "original-21", "original-8", "original-5", "original-4", "original-2", "original-6", "original-3", "original-34", "original-7", "original-16", "original-13", "original-18", "original-11", "original-27", "original-32", "original-31", "original-28", "original-9", "original-29", "original-26", "original-30", "original-20", "original-15", "original-19", "original-14"], "children": [{"ori_id": 6, "name": "tabletop", "id": 2, "objs": ["original-33"], "children": [{"ori_id": 20, "name": "tabletop_surface", "id": 3, "objs": ["original-33"], "children": [{"name": "board", "id": 4, "objs": ["original-33"], "ori_id": 21, "text": "board"}], "text": "tabletop_surface"}], "text": "tabletop"}, {"ori_id": 7, "name": "table_base", "id": 5, "objs": ["original-24", "original-25", "original-23", "original-10", "original-22", "original-21", "original-8", "original-5", "original-4", "original-2", "original-6", "original-3", "original-34", "original-7", "original-16", "original-13", "original-18", "original-11", "original-27", "original-32", "original-31", "original-28", "original-9", "original-29", "original-26", "original-30", "original-20", "original-15", "original-19", "original-14"], "children": [{"ori_id": 8, "name": "drawer_base", "id": 6, "objs": ["original-24", "original-25", "original-23", "original-10", "original-22", "original-21", "original-8", "original-5", "original-4", "original-2", "original-6", "original-3", "original-34", "original-7", "original-16", "original-13", "original-18", "original-11", "original-27", "original-32", "original-31", "original-28", "original-9", "original-29", "original-26", "original-30", "original-20", "original-15", "original-19", "original-14"], "children": [{"name": "shelf", "id": 7, "objs": ["original-24", "original-25", "original-23"], "ori_id": 10, "text": "shelf"}, {"name": "leg", "id": 8, "objs": ["original-10"], "ori_id": 11, "text": "leg"}, {"name": "leg", "id": 9, "objs": ["original-22"], "ori_id": 12, "text": "leg"}, {"name": "leg", "id": 10, "objs": ["original-21"], "ori_id": 13, "text": "leg"}, {"name": "leg", "id": 11, "objs": ["original-8"], "ori_id": 14, "text": "leg"}, {"ori_id": 15, "name": "drawer", "id": 12, "objs": ["original-5", "original-4", "original-2", "original-6", "original-3", "original-34"], "children": [{"ori_id": 18, "name": "drawer_box", "id": 13, "objs": ["original-5", "original-4", "original-2", "original-6", "original-3"], "children": [{"name": "drawer_back", "id": 14, "objs": ["original-5"], "ori_id": 24, "text": "drawer_back"}, {"name": "drawer_bottom", "id": 15, "objs": ["original-4"], "ori_id": 25, "text": "drawer_bottom"}, {"name": "drawer_front", "id": 16, "objs": ["original-2"], "ori_id": 26, "text": "drawer_front"}, {"name": "drawer_side", "id": 17, "objs": ["original-6"], "ori_id": 27, "text": "drawer_side"}, {"name": "drawer_side", "id": 18, "objs": ["original-3"], "ori_id": 28, "text": "drawer_side"}], "text": "drawer_box"}, {"name": "handle", "id": 19, "objs": ["original-34"], "ori_id": 19, "text": "handle"}], "text": "drawer"}, {"name": "bar_stretcher", "id": 20, "objs": ["original-7"], "ori_id": 16, "text": "bar_stretcher"}, {"name": "bar_stretcher", "id": 21, "objs": ["original-16"], "ori_id": 17, "text": "bar_stretcher"}, {"name": "tabletop_connector", "id": 22, "objs": ["original-13"], "ori_id": 33, "text": "tabletop_connector"}, {"name": "tabletop_connector", "id": 23, "objs": ["original-18"], "ori_id": 34, "text": "tabletop_connector"}, {"name": "tabletop_connector", "id": 24, "objs": ["original-11"], "ori_id": 35, "text": "tabletop_connector"}, {"name": "bar_stretcher", "id": 25, "objs": ["original-27", "original-32"], "ori_id": 36, "text": "bar_stretcher"}, {"name": "bar_stretcher", "id": 26, "objs": ["original-31", "original-28"], "ori_id": 37, "text": "bar_stretcher"}, {"name": "bar_stretcher", "id": 27, "objs": ["original-9", "original-29"], "ori_id": 38, "text": "bar_stretcher"}, {"name": "bar_stretcher", "id": 28, "objs": ["original-26", "original-30"], "ori_id": 39, "text": "bar_stretcher"}, {"name": "tabletop_connector", "id": 29, "objs": ["original-20"], "ori_id": 40, "text": "tabletop_connector"}, {"name": "tabletop_connector", "id": 30, "objs": ["original-15"], "ori_id": 41, "text": "tabletop_connector"}, {"name": "tabletop_connector", "id": 31, "objs": ["original-19"], "ori_id": 42, "text": "tabletop_connector"}, {"name": "tabletop_connector", "id": 32, "objs": ["original-14"], "ori_id": 43, "text": "tabletop_connector"}], "text": "drawer_base"}], "text": "table_base"}], "text": "regular_table"}], "text": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/22241/semantics.txt b/PartNetMobility/Table/22241/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e633624fa79600e01561864dbeb1d30368693f9a
--- /dev/null
+++ b/PartNetMobility/Table/22241/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider drawer
+link_1 heavy furniture_body
diff --git a/PartNetMobility/Table/22241/tree_hier.html b/PartNetMobility/Table/22241/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..60186f16fed73c8d7ffd5d847645ab6debca59ad
--- /dev/null
+++ b/PartNetMobility/Table/22241/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
5 regular_table Regular table
6 tabletop Tabletop
7 table_base Table Base
20 tabletop_surface Tabletop surface
8 drawer_base Drawer Base
21 board Board
10 shelf Shelf
11 leg Leg
12 leg Leg
13 leg Leg
14 leg Leg
15 drawer Drawer
16 bar_stretcher Bar Stretcher
17 bar_stretcher Bar Stretcher
33 tabletop_connector Tabletop Connector
34 tabletop_connector Tabletop Connector
35 tabletop_connector Tabletop Connector
36 bar_stretcher Bar Stretcher
37 bar_stretcher Bar Stretcher
38 bar_stretcher Bar Stretcher
39 bar_stretcher Bar Stretcher
40 tabletop_connector Tabletop Connector
41 tabletop_connector Tabletop Connector
42 tabletop_connector Tabletop Connector
43 tabletop_connector Tabletop Connector
18 drawer_box Drawer box
19 handle Handle
24 drawer_back Drawer back
25 drawer_bottom Drawer bottom
26 drawer_front Drawer front
27 drawer_side Drawer side
28 drawer_side Drawer side
\ No newline at end of file
diff --git a/PartNetMobility/Table/22241/tree_hier_after_merging.html b/PartNetMobility/Table/22241/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..43ddc6d3051d1c672e43d7372bfc8d057403fe8e
--- /dev/null
+++ b/PartNetMobility/Table/22241/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
6 drawer_base drawer_base
4 board board
7 shelf shelf
8 leg leg
9 leg leg
10 leg leg
11 leg leg
12 drawer drawer
20 bar_stretcher bar_stretcher
21 bar_stretcher bar_stretcher
22 tabletop_connector tabletop_connector
23 tabletop_connector tabletop_connector
24 tabletop_connector tabletop_connector
25 bar_stretcher bar_stretcher
26 bar_stretcher bar_stretcher
27 bar_stretcher bar_stretcher
28 bar_stretcher bar_stretcher
29 tabletop_connector tabletop_connector
30 tabletop_connector tabletop_connector
31 tabletop_connector tabletop_connector
32 tabletop_connector tabletop_connector
13 drawer_box drawer_box
19 handle handle
14 drawer_back drawer_back
15 drawer_bottom drawer_bottom
16 drawer_front drawer_front
17 drawer_side drawer_side
18 drawer_side drawer_side
\ No newline at end of file
diff --git a/PartNetMobility/Table/22367/bounding_box.json b/PartNetMobility/Table/22367/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..e556f2cea86a72e37ddc13a13d6fa31b879db3a1
--- /dev/null
+++ b/PartNetMobility/Table/22367/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.647119, -0.846469, -0.518697], "max": [0.660205, 0.376512, 0.577854]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/22367/meta.json b/PartNetMobility/Table/22367/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c2d394a82c80d550c7c597008d8285d5bce05ec
--- /dev/null
+++ b/PartNetMobility/Table/22367/meta.json
@@ -0,0 +1 @@
+{"model_id": "4b687008902de4543e3a599e79b43485", "anno_id": "22367", "user_id": "zhangyu", "time_in_sec": "536", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/22367/mobility.urdf b/PartNetMobility/Table/22367/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..844dfca8620a92496cb91a9e8a4a5d081a9e86a5
--- /dev/null
+++ b/PartNetMobility/Table/22367/mobility.urdf
@@ -0,0 +1,1139 @@
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diff --git a/PartNetMobility/Table/22367/mobility_v2.json b/PartNetMobility/Table/22367/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..32ca59e86a13a5c7a99eeebaee1220b9f6601cd1
--- /dev/null
+++ b/PartNetMobility/Table/22367/mobility_v2.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/22367/result.json b/PartNetMobility/Table/22367/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d9601614642fa6bb2db164d47552dd6c442df89
--- /dev/null
+++ b/PartNetMobility/Table/22367/result.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/22367/result_after_merging.json b/PartNetMobility/Table/22367/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..c780badabb376bf37cfd1520fffb77c721a5d9f6
--- /dev/null
+++ b/PartNetMobility/Table/22367/result_after_merging.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/22367/semantics.txt b/PartNetMobility/Table/22367/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60f9c17e5a1d3a7058eb02b3958fdf58bcfb934b
--- /dev/null
+++ b/PartNetMobility/Table/22367/semantics.txt
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\ No newline at end of file
diff --git a/PartNetMobility/Table/22367/tree_hier_after_merging.html b/PartNetMobility/Table/22367/tree_hier_after_merging.html
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/22367/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
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\ No newline at end of file
diff --git a/PartNetMobility/Table/22870/bounding_box.json b/PartNetMobility/Table/22870/bounding_box.json
new file mode 100644
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+++ b/PartNetMobility/Table/22870/bounding_box.json
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+{"min": [-0.623207, -0.791504, -0.559532], "max": [0.55112, 0.479041, 0.585834]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/22870/meta.json b/PartNetMobility/Table/22870/meta.json
new file mode 100644
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\ No newline at end of file
diff --git a/PartNetMobility/Table/22870/mobility.urdf b/PartNetMobility/Table/22870/mobility.urdf
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diff --git a/PartNetMobility/Table/22870/mobility_v2.json b/PartNetMobility/Table/22870/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e51371e6df50f90743cdfecbebd839d1b6dcb5b
--- /dev/null
+++ b/PartNetMobility/Table/22870/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":6,"joint":"hinge","name":"caster_stem","parts":[{"id":16,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.478443967169606,0,-0.27812691975738096],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":17,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.35613410830450154,-0.6833702541339517,-0.28733472926873777],"direction":[-0.6279243248454413,0,-0.7782744003675033]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":6,"joint":"hinge","name":"caster_stem","parts":[{"id":14,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.0006176865767082971,-0.3570479999999998,0.5432024962851435],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":2,"joint":"hinge","name":"wheel","parts":[{"id":15,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.09501726859837722,-0.6833704016307123,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":6,"joint":"hinge","name":"caster_stem","parts":[{"id":12,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.48804188632263185,-0.3570479999999998,-0.28047253150254214],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":13,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.3918985092164572,-0.6833702796973332,-0.47691658917556284],"direction":[-0.7726105671241236,0,0.6348802340348455]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":19,"name":"board","children":[]},{"id":5,"name":"shelf","children":[]},{"id":6,"name":"leg","children":[]},{"id":7,"name":"leg","children":[]},{"id":8,"name":"leg","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/22870/result.json b/PartNetMobility/Table/22870/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..65140073e98c0e48786d85a0f811bfc97643eb90
--- /dev/null
+++ b/PartNetMobility/Table/22870/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-13"], "id": 19, "name": "board"}], "id": 18, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Shelving Base", "children": [{"text": "Shelf", "objs": ["original-20"], "id": 5, "name": "shelf"}, {"text": "Leg", "objs": ["original-6"], "id": 6, "name": "leg"}, {"text": "Leg", "objs": ["original-19"], "id": 7, "name": "leg"}, {"text": "Leg", "objs": ["original-12"], "id": 8, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-11"], "id": 16, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-9", "original-8"], "id": 17, "name": "wheel"}], "id": 9, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-18"], "id": 14, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-16", "original-15"], "id": 15, "name": "wheel"}], "id": 10, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-5"], "id": 12, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-3", "original-2"], "id": 13, "name": "wheel"}], "id": 11, "name": "caster"}], "id": 4, "name": "shelving_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/22870/result_after_merging.json b/PartNetMobility/Table/22870/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c66a308677d0518d443f24499da87a2dbccd834
--- /dev/null
+++ b/PartNetMobility/Table/22870/result_after_merging.json
@@ -0,0 +1 @@
+[{"ori_id": 0, "name": "table", "objs": ["original-13", "original-20", "original-6", "original-19", "original-12", "original-11", "original-9", "original-8", "original-18", "original-16", "original-15", "original-5", "original-3", "original-2"], "text": "table", "children": [{"ori_id": 1, "name": "regular_table", "objs": ["original-13", "original-20", "original-6", "original-19", "original-12", "original-11", "original-9", "original-8", "original-18", "original-16", "original-15", "original-5", "original-3", "original-2"], "text": "regular_table", "children": [{"ori_id": 2, "name": "tabletop", "objs": ["original-13"], "text": "tabletop", "children": [{"ori_id": 18, "name": "tabletop_surface", "objs": ["original-13"], "text": "tabletop_surface", "children": [{"text": "board", "objs": ["original-13"], "name": "board", "id": 4, "ori_id": 19}], "id": 3}], "id": 2}, {"ori_id": 3, "name": "table_base", "objs": ["original-20", "original-6", "original-19", "original-12", "original-11", "original-9", "original-8", "original-18", "original-16", "original-15", "original-5", "original-3", "original-2"], "text": "table_base", "children": [{"ori_id": 4, "name": "drawer_base", "objs": ["original-20", "original-6", "original-19", "original-12", "original-11", "original-9", "original-8", "original-18", "original-16", "original-15", "original-5", "original-3", "original-2"], "text": "drawer_base", "children": [{"text": "shelf", "objs": ["original-20"], "name": "shelf", "id": 7, "ori_id": 5}, {"text": "leg", "objs": ["original-6"], "name": "leg", "id": 8, "ori_id": 6}, {"text": "leg", "objs": ["original-19"], "name": "leg", "id": 9, "ori_id": 7}, {"text": "leg", "objs": ["original-12"], "name": "leg", "id": 10, "ori_id": 8}, {"ori_id": 9, "name": "caster", "objs": ["original-11", "original-9", "original-8"], "text": "caster", "children": [{"text": "caster_stem", "objs": ["original-11"], "name": "caster_stem", "id": 12, "ori_id": 16}, {"text": "wheel", "objs": ["original-9", "original-8"], "name": "wheel", "id": 13, "ori_id": 17}], "id": 11}, {"ori_id": 10, "name": "caster", "objs": ["original-18", "original-16", "original-15"], "text": "caster", "children": [{"text": "caster_stem", "objs": ["original-18"], "name": "caster_stem", "id": 15, "ori_id": 14}, {"text": "wheel", "objs": ["original-16", "original-15"], "name": "wheel", "id": 16, "ori_id": 15}], "id": 14}, {"ori_id": 11, "name": "caster", "objs": ["original-5", "original-3", "original-2"], "text": "caster", "children": [{"text": "caster_stem", "objs": ["original-5"], "name": "caster_stem", "id": 18, "ori_id": 12}, {"text": "wheel", "objs": ["original-3", "original-2"], "name": "wheel", "id": 19, "ori_id": 13}], "id": 17}], "id": 6}], "id": 5}], "id": 1}], "id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/22870/semantics.txt b/PartNetMobility/Table/22870/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2910ff124189a06add8936d1ed4395b2c1b4cc87
--- /dev/null
+++ b/PartNetMobility/Table/22870/semantics.txt
@@ -0,0 +1,7 @@
+link_0 hinge caster
+link_1 hinge wheel
+link_2 hinge caster
+link_3 hinge wheel
+link_4 hinge caster
+link_5 hinge wheel
+link_6 heavy furniture_body
diff --git a/PartNetMobility/Table/22870/tree_hier.html b/PartNetMobility/Table/22870/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..904be1fcc2384b8e9fc03054b72778648e238c6d
--- /dev/null
+++ b/PartNetMobility/Table/22870/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
18 tabletop_surface Tabletop surface
4 shelving_base Shelving Base
19 board Board
5 shelf Shelf
6 leg Leg
7 leg Leg
8 leg Leg
9 caster Wheel Assembly
10 caster Wheel Assembly
11 caster Wheel Assembly
16 caster_stem Caster Stem
17 wheel Wheel
14 caster_stem Caster Stem
15 wheel Wheel
12 caster_stem Caster Stem
13 wheel Wheel
\ No newline at end of file
diff --git a/PartNetMobility/Table/22870/tree_hier_after_merging.html b/PartNetMobility/Table/22870/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..c09cd8e4a5a8271d795a99babb0f6d552e8a8ac4
--- /dev/null
+++ b/PartNetMobility/Table/22870/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
6 drawer_base drawer_base
4 board board
7 shelf shelf
8 leg leg
9 leg leg
10 leg leg
11 caster caster
14 caster caster
17 caster caster
12 caster_stem caster_stem
13 wheel wheel
15 caster_stem caster_stem
16 wheel wheel
18 caster_stem caster_stem
19 wheel wheel
\ No newline at end of file
diff --git a/PartNetMobility/Table/23372/bounding_box.json b/PartNetMobility/Table/23372/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5c7399a80e66801de465494bbc15eadc4025142
--- /dev/null
+++ b/PartNetMobility/Table/23372/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.760059, -0.659941, -0.208468], "max": [0.794516, 0.404153, 0.245019]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/23372/meta.json b/PartNetMobility/Table/23372/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05f74584ae826bc6786e07b2757460a1bf9ca2cd
--- /dev/null
+++ b/PartNetMobility/Table/23372/meta.json
@@ -0,0 +1 @@
+{"model_id": "594a7dedea7abb21f77e460087130a90", "anno_id": "23372", "user_id": "shape18", "time_in_sec": "332", "version": "3", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/23372/mobility.urdf b/PartNetMobility/Table/23372/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d1647efaa7ded232e0ebacbbbb274cd8c43dda96
--- /dev/null
+++ b/PartNetMobility/Table/23372/mobility.urdf
@@ -0,0 +1,863 @@
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diff --git a/PartNetMobility/Table/23372/mobility_v2.json b/PartNetMobility/Table/23372/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc236c7e22b5383e311bb07b3d5fa97344eae4b9
--- /dev/null
+++ b/PartNetMobility/Table/23372/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":52,"name":"drawer_front","children":[]},{"id":53,"name":"drawer_side","children":[]},{"id":54,"name":"drawer_side","children":[]},{"id":55,"name":"drawer_back","children":[]},{"id":56,"name":"drawer_bottom","children":[]},{"id":51,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.3599999999999999,"noLimit":false}}},{"id":1,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":45,"name":"drawer_front","children":[]},{"id":46,"name":"drawer_side","children":[]},{"id":47,"name":"drawer_side","children":[]},{"id":48,"name":"drawer_back","children":[]},{"id":49,"name":"drawer_bottom","children":[]},{"id":44,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.3599999999999999,"noLimit":false}}},{"id":2,"parent":4,"joint":"hinge","name":"cabinet_door","parts":[{"id":19,"name":"cabinet_door_surface","children":[]},{"id":20,"name":"handle","children":[]},{"id":57,"name":"hinge","children":[]},{"id":58,"name":"hinge","children":[]}],"jointData":{"axis":{"origin":[0.7354781085937212,0.404153,0.20415488142776383],"direction":[0,1,0]},"limit":{"a":0,"b":90,"noLimit":false}}},{"id":3,"parent":4,"joint":"hinge","name":"cabinet_door","parts":[{"id":17,"name":"cabinet_door_surface","children":[]},{"id":18,"name":"handle","children":[]},{"id":60,"name":"hinge","children":[]},{"id":61,"name":"hinge","children":[]}],"jointData":{"axis":{"origin":[-0.7021093134973193,0.404153,0.20361219397007435],"direction":[0,1,0]},"limit":{"a":0,"b":-90,"noLimit":false}}},{"id":4,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":34,"name":"board","children":[]},{"id":9,"name":"back_panel","children":[]},{"id":10,"name":"vertical_side_panel","children":[]},{"id":11,"name":"vertical_side_panel","children":[]},{"id":12,"name":"bottom_panel","children":[]},{"id":13,"name":"leg","children":[]},{"id":14,"name":"leg","children":[]},{"id":15,"name":"leg","children":[]},{"id":16,"name":"leg","children":[]},{"id":27,"name":"bar_stretcher","children":[]},{"id":28,"name":"bar_stretcher","children":[]},{"id":29,"name":"bar_stretcher","children":[]},{"id":30,"name":"bar_stretcher","children":[]},{"id":35,"name":"vertical_side_panel","children":[]},{"id":36,"name":"vertical_side_panel","children":[]},{"id":37,"name":"bottom_panel","children":[]},{"id":38,"name":"bottom_panel","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/23372/result.json b/PartNetMobility/Table/23372/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..9194ffb1844c9127c05ab6eb91cad1b61a06d586
--- /dev/null
+++ b/PartNetMobility/Table/23372/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-7", "original-50"], "id": 34, "name": "board"}], "id": 33, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-79"], "id": 52, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-75"], "id": 53, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-78"], "id": 54, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-77"], "id": 55, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-76"], "id": 56, "name": "drawer_bottom"}], "id": 50, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-80"], "id": 51, "name": "handle"}], "id": 5, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-72"], "id": 45, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-68"], "id": 46, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-71"], "id": 47, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-70"], "id": 48, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-69"], "id": 49, "name": "drawer_bottom"}], "id": 43, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-73"], "id": 44, "name": "handle"}], "id": 6, "name": "drawer"}, {"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["original-64", "original-65", "original-62", "original-61", "original-63"], "id": 19, "name": "cabinet_door_surface"}, {"text": "Handle", "objs": ["original-66"], "id": 20, "name": "handle"}, {"text": "Hinge", "objs": ["original-24", "original-25", "original-27", "original-28"], "id": 57, "name": "hinge"}, {"text": "Hinge", "objs": ["original-30", "original-31", "original-34", "original-33"], "id": 58, "name": "hinge"}], "id": 7, "name": "cabinet_door"}, {"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["original-58", "original-57", "original-55", "original-54", "original-56"], "id": 17, "name": "cabinet_door_surface"}, {"text": "Handle", "objs": ["original-59"], "id": 18, "name": "handle"}, {"text": "Hinge", "objs": ["original-43", "original-42", "original-45", "original-46"], "id": 60, "name": "hinge"}, {"text": "Hinge", "objs": ["original-36", "original-37", "original-39", "original-40"], "id": 61, "name": "hinge"}], "id": 8, "name": "cabinet_door"}, {"text": "Back panel", "objs": ["original-20", "original-49", "original-47"], "id": 9, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-6", "original-2", "original-4"], "id": 10, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-5", "original-8", "original-3"], "id": 11, "name": "vertical_side_panel"}, {"text": "Bottom panel", "objs": ["original-13", "original-51", "original-12", "original-48", "original-11"], "id": 12, "name": "bottom_panel"}, {"text": "Leg", "objs": ["original-17"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-16"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["original-14"], "id": 15, "name": "leg"}, {"text": "Leg", "objs": ["original-15"], "id": 16, "name": "leg"}, {"text": "Bar Stretcher", "objs": ["original-19"], "id": 27, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-22"], "id": 28, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-18"], "id": 29, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-52"], "id": 30, "name": "bar_stretcher"}, {"text": "Vertical side panel", "objs": ["original-10"], "id": 35, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-9"], "id": 36, "name": "vertical_side_panel"}, {"text": "Bottom panel", "objs": ["original-21"], "id": 37, "name": "bottom_panel"}, {"text": "Bottom panel", "objs": ["original-1"], "id": 38, "name": "bottom_panel"}], "id": 4, "name": "drawer_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/23372/result_after_merging.json b/PartNetMobility/Table/23372/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..b86a640ef7cc98135673364a77005f9e5b94cb3a
--- /dev/null
+++ b/PartNetMobility/Table/23372/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["original-7", "original-50", "original-79", "original-75", "original-78", "original-77", "original-76", "original-80", "original-72", "original-68", "original-71", "original-70", "original-69", "original-73", "original-64", "original-65", "original-62", "original-61", "original-63", "original-66", "original-24", "original-25", "original-27", "original-28", "original-30", "original-31", "original-34", "original-33", "original-58", "original-57", "original-55", "original-54", "original-56", "original-59", "original-43", "original-42", "original-45", "original-46", "original-36", "original-37", "original-39", "original-40", "original-20", "original-49", "original-47", "original-6", "original-2", "original-4", "original-5", "original-8", "original-3", "original-13", "original-51", "original-12", "original-48", "original-11", "original-17", "original-16", "original-14", "original-15", "original-19", "original-22", "original-18", "original-52", "original-10", "original-9", 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["original-69"], "name": "drawer_bottom", "id": 21, "ori_id": 49, "text": "drawer_bottom"}], "name": "drawer_box", "id": 16, "ori_id": 43, "text": "drawer_box"}, {"objs": ["original-73"], "name": "handle", "id": 22, "ori_id": 44, "text": "handle"}], "name": "drawer", "id": 15, "ori_id": 6, "text": "drawer"}, {"objs": ["original-64", "original-65", "original-62", "original-61", "original-63", "original-66", "original-24", "original-25", "original-27", "original-28", "original-30", "original-31", "original-34", "original-33"], "children": [{"objs": ["original-64", "original-65", "original-62", "original-61", "original-63"], "name": "cabinet_door_surface", "id": 24, "ori_id": 19, "text": "cabinet_door_surface"}, {"objs": ["original-66"], "name": "handle", "id": 25, "ori_id": 20, "text": "handle"}], "name": "cabinet_door", "id": 23, "ori_id": 7, "text": "cabinet_door"}, {"objs": ["original-58", "original-57", "original-55", "original-54", "original-56", "original-59", "original-43", 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"bottom_panel"}, {"objs": ["original-17"], "name": "leg", "id": 33, "ori_id": 13, "text": "leg"}, {"objs": ["original-16"], "name": "leg", "id": 34, "ori_id": 14, "text": "leg"}, {"objs": ["original-14"], "name": "leg", "id": 35, "ori_id": 15, "text": "leg"}, {"objs": ["original-15"], "name": "leg", "id": 36, "ori_id": 16, "text": "leg"}, {"objs": ["original-19"], "name": "bar_stretcher", "id": 37, "ori_id": 27, "text": "bar_stretcher"}, {"objs": ["original-22"], "name": "bar_stretcher", "id": 38, "ori_id": 28, "text": "bar_stretcher"}, {"objs": ["original-18"], "name": "bar_stretcher", "id": 39, "ori_id": 29, "text": "bar_stretcher"}, {"objs": ["original-52"], "name": "bar_stretcher", "id": 40, "ori_id": 30, "text": "bar_stretcher"}, {"objs": ["original-10"], "name": "vertical_side_panel", "id": 41, "ori_id": 35, "text": "vertical_side_panel"}, {"objs": ["original-9"], "name": "vertical_side_panel", "id": 42, "ori_id": 36, "text": "vertical_side_panel"}, {"objs": ["original-21"], "name": "bottom_panel", "id": 43, "ori_id": 37, "text": "bottom_panel"}, {"objs": ["original-1"], "name": "bottom_panel", "id": 44, "ori_id": 38, "text": "bottom_panel"}], "name": "drawer_base", "id": 6, "ori_id": 4, "text": "drawer_base"}], "name": "table_base", "id": 5, "ori_id": 3, "text": "table_base"}], "name": "regular_table", "id": 1, "ori_id": 1, "text": "regular_table"}], "name": "table", "id": 0, "ori_id": 0, "text": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/23372/semantics.txt b/PartNetMobility/Table/23372/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..20eb3717a48ef29a2c7f698f655ca4791c304089
--- /dev/null
+++ b/PartNetMobility/Table/23372/semantics.txt
@@ -0,0 +1,5 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 hinge door
+link_3 hinge door
+link_4 heavy furniture_body
diff --git a/PartNetMobility/Table/23372/tree_hier.html b/PartNetMobility/Table/23372/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..b1f5f478b5e610fcb9b68b5826776131d031b5ac
--- /dev/null
+++ b/PartNetMobility/Table/23372/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
33 tabletop_surface Tabletop surface
4 drawer_base Drawer Base
34 board Board
5 drawer Drawer
6 drawer Drawer
7 cabinet_door Cabinet door
8 cabinet_door Cabinet door
9 back_panel Back panel
10 vertical_side_panel Vertical side panel
11 vertical_side_panel Vertical side panel
12 bottom_panel Bottom panel
13 leg Leg
14 leg Leg
15 leg Leg
16 leg Leg
27 bar_stretcher Bar Stretcher
28 bar_stretcher Bar Stretcher
29 bar_stretcher Bar Stretcher
30 bar_stretcher Bar Stretcher
35 vertical_side_panel Vertical side panel
36 vertical_side_panel Vertical side panel
37 bottom_panel Bottom panel
38 bottom_panel Bottom panel
50 drawer_box Drawer box
51 handle Handle
43 drawer_box Drawer box
44 handle Handle
19 cabinet_door_surface Cabinet door surface
20 handle Handle
57 hinge Hinge
58 hinge Hinge
17 cabinet_door_surface Cabinet door surface
18 handle Handle
60 hinge Hinge
61 hinge Hinge
52 drawer_front Drawer front
53 drawer_side Drawer side
54 drawer_side Drawer side
55 drawer_back Drawer back
56 drawer_bottom Drawer bottom
45 drawer_front Drawer front
46 drawer_side Drawer side
47 drawer_side Drawer side
48 drawer_back Drawer back
49 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/23372/tree_hier_after_merging.html b/PartNetMobility/Table/23372/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..9cba222d6cce4a9a258d2ba1c1ee44d7a1cc1a95
--- /dev/null
+++ b/PartNetMobility/Table/23372/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
6 drawer_base drawer_base
4 board board
7 drawer drawer
15 drawer drawer
23 cabinet_door cabinet_door
26 cabinet_door cabinet_door
29 back_panel back_panel
30 vertical_side_panel vertical_side_panel
31 vertical_side_panel vertical_side_panel
32 bottom_panel bottom_panel
33 leg leg
34 leg leg
35 leg leg
36 leg leg
37 bar_stretcher bar_stretcher
38 bar_stretcher bar_stretcher
39 bar_stretcher bar_stretcher
40 bar_stretcher bar_stretcher
41 vertical_side_panel vertical_side_panel
42 vertical_side_panel vertical_side_panel
43 bottom_panel bottom_panel
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8 drawer_box drawer_box
14 handle handle
16 drawer_box drawer_box
22 handle handle
24 cabinet_door_surface cabinet_door_surface
25 handle handle
27 cabinet_door_surface cabinet_door_surface
28 handle handle
9 drawer_front drawer_front
10 drawer_side drawer_side
11 drawer_side drawer_side
12 drawer_back drawer_back
13 drawer_bottom drawer_bottom
17 drawer_front drawer_front
18 drawer_side drawer_side
19 drawer_side drawer_side
20 drawer_back drawer_back
21 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/23472/bounding_box.json b/PartNetMobility/Table/23472/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..5599981ca4a9e0c8770ba0ca57af6a007aac0bc7
--- /dev/null
+++ b/PartNetMobility/Table/23472/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.482282, -0.841535, -0.538266], "max": [0.489089, 0.653111, 0.657304]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/23472/meta.json b/PartNetMobility/Table/23472/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7fa188b6fc15917c6503ce276775be03ba04bf2
--- /dev/null
+++ b/PartNetMobility/Table/23472/meta.json
@@ -0,0 +1 @@
+{"model_id": "1e2565b2c28e69d3deb25e31ec3122be", "anno_id": "23472", "user_id": "shape07", "time_in_sec": "682", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/23472/mobility.urdf b/PartNetMobility/Table/23472/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6ecbd285fc6449ceb12e1a3dbe7ebf3deb627be4
--- /dev/null
+++ b/PartNetMobility/Table/23472/mobility.urdf
@@ -0,0 +1,257 @@
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diff --git a/PartNetMobility/Table/23472/mobility_v2.json b/PartNetMobility/Table/23472/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecc1d429476ef4787a9527ee11c2f6b4b532e269
--- /dev/null
+++ b/PartNetMobility/Table/23472/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"hinge","name":"cabinet_door_surface","parts":[{"id":32,"name":"cabinet_door_surface","children":[]}],"jointData":{"axis":{"origin":[0.3561605338913945,-0.6198470000000005,0.37269548372455774],"direction":[0,1,0]},"limit":{"a":-18.720000000000027,"b":72,"noLimit":false}}},{"id":1,"parent":2,"joint":"slider","name":"drawer_box","parts":[{"id":27,"name":"drawer_front","children":[]},{"id":28,"name":"drawer_side","children":[]},{"id":29,"name":"drawer_side","children":[]},{"id":30,"name":"drawer_back","children":[]},{"id":31,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":-0.264,"b":0.2959999999999998,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":34,"name":"board","children":[]},{"id":8,"name":"vertical_side_panel","children":[]},{"id":9,"name":"vertical_side_panel","children":[]},{"id":10,"name":"base_side_panel","children":[]},{"id":11,"name":"base_side_panel","children":[]},{"id":12,"name":"base_side_panel","children":[]},{"id":13,"name":"bottom_panel","children":[]},{"id":14,"name":"foot","children":[]},{"id":15,"name":"foot","children":[]},{"id":16,"name":"foot","children":[]},{"id":17,"name":"foot","children":[]},{"id":23,"name":"shelf","children":[]},{"id":24,"name":"back_panel","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/23472/result.json b/PartNetMobility/Table/23472/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e8ebd6f09aa5f1377b7a0d389d74bbfb84a3206
--- /dev/null
+++ b/PartNetMobility/Table/23472/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-3"], "id": 34, "name": "board"}], "id": 33, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Vertical side panel", "objs": ["new-12"], "id": 8, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["new-10"], "id": 9, "name": "vertical_side_panel"}, {"text": "Base side panel", "objs": ["new-13"], "id": 10, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["new-11"], "id": 11, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["new-9"], "id": 12, "name": "base_side_panel"}, {"text": "Bottom panel", "objs": ["new-5"], "id": 13, "name": "bottom_panel"}, {"text": "Foot", "objs": ["new-3"], "id": 14, "name": "foot"}, {"text": "Foot", "objs": ["new-2"], "id": 15, "name": "foot"}, {"text": "Foot", "objs": ["new-4"], "id": 16, "name": "foot"}, {"text": "Foot", "objs": ["new-1"], "id": 17, "name": "foot"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["new-16"], "id": 27, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-17"], "id": 28, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-19"], "id": 29, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-18"], "id": 30, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-20"], "id": 31, "name": "drawer_bottom"}], "id": 26, "name": "drawer_box"}], "id": 21, "name": "drawer"}, {"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["new-15"], "id": 32, "name": "cabinet_door_surface"}], "id": 22, "name": "cabinet_door"}, {"text": "Shelf", "objs": ["new-0"], "id": 23, "name": "shelf"}, {"text": "Back panel", "objs": ["new-14"], "id": 24, "name": "back_panel"}], "id": 4, "name": "drawer_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/23472/result_after_merging.json b/PartNetMobility/Table/23472/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..11ed7ce740a2193f229b14c30c72288ee26b9755
--- /dev/null
+++ b/PartNetMobility/Table/23472/result_after_merging.json
@@ -0,0 +1 @@
+[{"ori_id": 0, "text": "table", "children": [{"ori_id": 1, "text": "regular_table", "children": [{"ori_id": 2, "text": "tabletop", "children": [{"ori_id": 33, "text": "tabletop_surface", "children": [{"text": "board", "objs": ["original-3"], "id": 4, "name": "board", "ori_id": 34}], "id": 3, "name": "tabletop_surface", "objs": ["original-3"]}], "id": 2, "name": "tabletop", "objs": ["original-3"]}, {"ori_id": 3, "text": "table_base", "children": [{"ori_id": 4, "text": "drawer_base", "children": [{"text": "vertical_side_panel", "objs": ["new-12"], "id": 7, "name": "vertical_side_panel", "ori_id": 8}, {"text": "vertical_side_panel", "objs": ["new-10"], "id": 8, "name": "vertical_side_panel", "ori_id": 9}, {"text": "bottom_panel", "objs": ["new-5"], "id": 9, "name": "bottom_panel", "ori_id": 13}, {"text": "foot", "objs": ["new-3"], "id": 10, "name": "foot", "ori_id": 14}, {"text": "foot", "objs": ["new-2"], "id": 11, "name": "foot", "ori_id": 15}, {"text": "foot", "objs": ["new-4"], "id": 12, "name": "foot", "ori_id": 16}, {"text": "foot", "objs": ["new-1"], "id": 13, "name": "foot", "ori_id": 17}, {"ori_id": 21, "text": "drawer", "children": [{"ori_id": 26, "text": "drawer_box", "children": [{"text": "drawer_front", "objs": ["new-16"], "id": 16, "name": "drawer_front", "ori_id": 27}, {"text": "drawer_side", "objs": ["new-17"], "id": 17, "name": "drawer_side", "ori_id": 28}, {"text": "drawer_side", "objs": ["new-19"], "id": 18, "name": "drawer_side", "ori_id": 29}, {"text": "drawer_back", "objs": ["new-18"], "id": 19, "name": "drawer_back", "ori_id": 30}, {"text": "drawer_bottom", "objs": ["new-20"], "id": 20, "name": "drawer_bottom", "ori_id": 31}], "id": 15, "name": "drawer_box", "objs": ["new-16", "new-17", "new-19", "new-18", "new-20"]}], "id": 14, "name": "drawer", "objs": ["new-16", "new-17", "new-19", "new-18", "new-20"]}, {"ori_id": 22, "text": "cabinet_door", "children": [{"text": "cabinet_door_surface", "objs": ["new-15"], "id": 22, "name": "cabinet_door_surface", "ori_id": 32}], "id": 21, "name": "cabinet_door", "objs": ["new-15"]}, {"text": "shelf", "objs": ["new-0"], "id": 23, "name": "shelf", "ori_id": 23}, {"text": "back_panel", "objs": ["new-14"], "id": 24, "name": "back_panel", "ori_id": 24}], "id": 6, "name": "drawer_base", "objs": ["new-12", "new-10", "new-13", "new-11", "new-9", "new-5", "new-3", "new-2", "new-4", "new-1", "new-16", "new-17", "new-19", "new-18", "new-20", "new-15", "new-0", "new-14"]}], "id": 5, "name": "table_base", "objs": ["new-12", "new-10", "new-13", "new-11", "new-9", "new-5", "new-3", "new-2", "new-4", "new-1", "new-16", "new-17", "new-19", "new-18", "new-20", "new-15", "new-0", "new-14"]}], "id": 1, "name": "regular_table", "objs": ["original-3", "new-12", "new-10", "new-13", "new-11", "new-9", "new-5", "new-3", "new-2", "new-4", "new-1", "new-16", "new-17", "new-19", "new-18", "new-20", "new-15", "new-0", "new-14"]}], "id": 0, "name": "table", "objs": ["original-3", "new-12", "new-10", "new-13", "new-11", "new-9", "new-5", "new-3", "new-2", "new-4", "new-1", "new-16", "new-17", "new-19", "new-18", "new-20", "new-15", "new-0", "new-14"]}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/23472/semantics.txt b/PartNetMobility/Table/23472/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..08d51e92526649b22c18ffcaa9dafd35f52cd5dc
--- /dev/null
+++ b/PartNetMobility/Table/23472/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge door
+link_1 slider drawer
+link_2 heavy furniture_body
diff --git a/PartNetMobility/Table/23472/tree_hier.html b/PartNetMobility/Table/23472/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..6d60549d90177c1d7a7f53818b0a24194a49d7b7
--- /dev/null
+++ b/PartNetMobility/Table/23472/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
33 tabletop_surface Tabletop surface
4 drawer_base Drawer Base
34 board Board
8 vertical_side_panel Vertical side panel
9 vertical_side_panel Vertical side panel
10 base_side_panel Base side panel
11 base_side_panel Base side panel
12 base_side_panel Base side panel
13 bottom_panel Bottom panel
14 foot Foot
15 foot Foot
16 foot Foot
17 foot Foot
21 drawer Drawer
22 cabinet_door Cabinet door
23 shelf Shelf
24 back_panel Back panel
26 drawer_box Drawer box
32 cabinet_door_surface Cabinet door surface
27 drawer_front Drawer front
28 drawer_side Drawer side
29 drawer_side Drawer side
30 drawer_back Drawer back
31 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/23472/tree_hier_after_merging.html b/PartNetMobility/Table/23472/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..787dbc5230620202e6bd1c8692f132150fe7c365
--- /dev/null
+++ b/PartNetMobility/Table/23472/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
6 drawer_base drawer_base
4 board board
7 vertical_side_panel vertical_side_panel
8 vertical_side_panel vertical_side_panel
9 bottom_panel bottom_panel
10 foot foot
11 foot foot
12 foot foot
13 foot foot
14 drawer drawer
21 cabinet_door cabinet_door
23 shelf shelf
24 back_panel back_panel
15 drawer_box drawer_box
22 cabinet_door_surface cabinet_door_surface
16 drawer_front drawer_front
17 drawer_side drawer_side
18 drawer_side drawer_side
19 drawer_back drawer_back
20 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/23511/bounding_box.json b/PartNetMobility/Table/23511/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..7533036cc3c9c1e10845c03f86a77091aaa92f90
--- /dev/null
+++ b/PartNetMobility/Table/23511/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.570168, -0.838311, -0.377871], "max": [0.51987, 0.14032, 0.412795]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/23511/meta.json b/PartNetMobility/Table/23511/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6806c61dd9fb781e786fae4993473a5cbab51e9
--- /dev/null
+++ b/PartNetMobility/Table/23511/meta.json
@@ -0,0 +1 @@
+{"model_id": "415d7746f792eb1de0445fc6d980dd5c", "anno_id": "23511", "user_id": "shape07", "time_in_sec": "588", "version": "4", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/23511/mobility.urdf b/PartNetMobility/Table/23511/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..09d4ab6a6e42c4913206d8c381604ded7b6dc75a
--- /dev/null
+++ b/PartNetMobility/Table/23511/mobility.urdf
@@ -0,0 +1,392 @@
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diff --git a/PartNetMobility/Table/23511/mobility_v2.json b/PartNetMobility/Table/23511/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b6e015219ba1ce42424942d9eaeb3aef2ad6a4f
--- /dev/null
+++ b/PartNetMobility/Table/23511/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"drawer","parts":[{"id":80,"name":"drawer_rails","children":[]},{"id":81,"name":"drawer_rails","children":[]},{"id":86,"name":"drawer_front","children":[]},{"id":87,"name":"drawer_side","children":[]},{"id":88,"name":"drawer_side","children":[]},{"id":89,"name":"drawer_back","children":[]},{"id":90,"name":"drawer_bottom","children":[]},{"id":83,"name":"handle","children":[]},{"id":84,"name":"drawer_rails","children":[]},{"id":85,"name":"drawer_rails","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.5960000000000001,"noLimit":false}}},{"id":1,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":92,"name":"board","children":[]},{"id":67,"name":"back_panel","children":[]},{"id":68,"name":"vertical_side_panel","children":[]},{"id":69,"name":"vertical_side_panel","children":[]},{"id":70,"name":"vertical_front_panel","children":[]},{"id":71,"name":"leg","children":[]},{"id":72,"name":"leg","children":[]},{"id":73,"name":"leg","children":[]},{"id":74,"name":"leg","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/23511/result.json b/PartNetMobility/Table/23511/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..13d33dd54d2f4920751a4dfd902a9e1aca67674c
--- /dev/null
+++ b/PartNetMobility/Table/23511/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-34", "original-29", "original-30", "original-32", "original-26", "original-31", "original-28", "original-27", "original-33"], "id": 92, "name": "board"}], "id": 91, "name": "tabletop_surface"}], "id": 63, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Drawer", "children": [{"text": "Drawer rails", "objs": ["original-22"], "id": 80, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-23"], "id": 81, "name": "drawer_rails"}, {"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-13"], "id": 86, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-11", "original-21"], "id": 87, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-20", "original-10"], "id": 88, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-15"], "id": 89, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-17"], "id": 90, "name": "drawer_bottom"}], "id": 82, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-16"], "id": 83, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-14", "original-25", "original-12"], "id": 84, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-24"], "id": 85, "name": "drawer_rails"}], "id": 66, "name": "drawer"}, {"text": "Back panel", "objs": ["original-19"], "id": 67, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-2"], "id": 68, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-6"], "id": 69, "name": "vertical_side_panel"}, {"text": "Vertical Front Panel", "objs": ["original-18"], "id": 70, "name": "vertical_front_panel"}, {"text": "Leg", "objs": ["original-7"], "id": 71, "name": "leg"}, {"text": "Leg", "objs": ["original-3"], "id": 72, "name": "leg"}, {"text": "Leg", "objs": ["original-4"], "id": 73, "name": "leg"}, {"text": "Leg", "objs": ["original-8"], "id": 74, "name": "leg"}], "id": 65, "name": "drawer_base"}], "id": 64, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/23511/result_after_merging.json b/PartNetMobility/Table/23511/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ae7b4eee63f9fff4c75268abe0fe024e1d02e9f
--- /dev/null
+++ b/PartNetMobility/Table/23511/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["original-34", "original-29", "original-30", "original-32", "original-26", "original-31", "original-28", "original-27", "original-33", "original-22", "original-23", "original-13", "original-11", "original-21", "original-20", "original-10", "original-15", "original-17", "original-16", "original-14", "original-25", "original-12", "original-24", "original-19", "original-2", "original-6", "original-18", "original-7", "original-3", "original-4", "original-8"], "children": [{"objs": ["original-34", "original-29", "original-30", "original-32", "original-26", "original-31", "original-28", "original-27", "original-33", "original-22", "original-23", "original-13", "original-11", "original-21", "original-20", "original-10", "original-15", "original-17", "original-16", "original-14", "original-25", "original-12", "original-24", "original-19", "original-2", "original-6", "original-18", "original-7", "original-3", "original-4", "original-8"], "children": [{"objs": ["original-34", "original-29", "original-30", "original-32", "original-26", "original-31", "original-28", "original-27", "original-33"], "children": [{"objs": ["original-34", "original-29", "original-30", "original-32", "original-26", "original-31", "original-28", "original-27", "original-33"], "children": [{"id": 4, "objs": ["original-34", "original-29", "original-30", "original-32", "original-26", "original-31", "original-28", "original-27", "original-33"], "ori_id": 92, "text": "board", "name": "board"}], "id": 3, "name": "tabletop_surface", "ori_id": 91, "text": "tabletop_surface"}], "id": 2, "name": "tabletop", "ori_id": 63, "text": "tabletop"}, {"objs": ["original-22", "original-23", "original-13", "original-11", "original-21", "original-20", "original-10", "original-15", "original-17", "original-16", "original-14", "original-25", "original-12", "original-24", "original-19", "original-2", "original-6", "original-18", "original-7", "original-3", "original-4", "original-8"], "children": [{"objs": ["original-22", "original-23", "original-13", "original-11", "original-21", "original-20", "original-10", "original-15", "original-17", "original-16", "original-14", "original-25", "original-12", "original-24", "original-19", "original-2", "original-6", "original-18", "original-7", "original-3", "original-4", "original-8"], "children": [{"objs": ["original-22", "original-23", "original-13", "original-11", "original-21", "original-20", "original-10", "original-15", "original-17", "original-16", "original-14", "original-25", "original-12", "original-24"], "children": [{"objs": ["original-13", "original-11", "original-21", "original-20", "original-10", "original-15", "original-17"], "children": [{"id": 9, "objs": ["original-13"], "ori_id": 86, "text": "drawer_front", "name": "drawer_front"}, {"id": 10, "objs": ["original-11", "original-21"], "ori_id": 87, "text": "drawer_side", "name": "drawer_side"}, {"id": 11, "objs": ["original-20", "original-10"], "ori_id": 88, "text": "drawer_side", "name": "drawer_side"}, {"id": 12, "objs": ["original-15"], "ori_id": 89, "text": "drawer_back", "name": "drawer_back"}, {"id": 13, "objs": ["original-17"], "ori_id": 90, "text": "drawer_bottom", "name": "drawer_bottom"}], "id": 8, "name": "drawer_box", "ori_id": 82, "text": "drawer_box"}, {"id": 14, "objs": ["original-16"], "ori_id": 83, "text": "handle", "name": "handle"}], "id": 7, "name": "drawer", "ori_id": 66, "text": "drawer"}, {"id": 15, "objs": ["original-19"], "ori_id": 67, "text": "back_panel", "name": "back_panel"}, {"id": 16, "objs": ["original-2"], "ori_id": 68, "text": "vertical_side_panel", "name": "vertical_side_panel"}, {"id": 17, "objs": ["original-6"], "ori_id": 69, "text": "vertical_side_panel", "name": "vertical_side_panel"}, {"id": 18, "objs": ["original-18"], "ori_id": 70, "text": "vertical_front_panel", "name": "vertical_front_panel"}, {"id": 19, "objs": ["original-7"], "ori_id": 71, "text": "leg", "name": "leg"}, {"id": 20, "objs": ["original-3"], "ori_id": 72, "text": "leg", "name": "leg"}, {"id": 21, "objs": ["original-4"], "ori_id": 73, "text": "leg", "name": "leg"}, {"id": 22, "objs": ["original-8"], "ori_id": 74, "text": "leg", "name": "leg"}], "id": 6, "name": "drawer_base", "ori_id": 65, "text": "drawer_base"}], "id": 5, "name": "table_base", "ori_id": 64, "text": "table_base"}], "id": 1, "name": "regular_table", "ori_id": 1, "text": "regular_table"}], "id": 0, "name": "table", "ori_id": 0, "text": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/23511/semantics.txt b/PartNetMobility/Table/23511/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e633624fa79600e01561864dbeb1d30368693f9a
--- /dev/null
+++ b/PartNetMobility/Table/23511/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider drawer
+link_1 heavy furniture_body
diff --git a/PartNetMobility/Table/23511/tree_hier.html b/PartNetMobility/Table/23511/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..e138e91e96ffab56fbe1a1bba7fbe5ea42333199
--- /dev/null
+++ b/PartNetMobility/Table/23511/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
63 tabletop Tabletop
64 table_base Table Base
91 tabletop_surface Tabletop surface
65 drawer_base Drawer Base
92 board Board
66 drawer Drawer
67 back_panel Back panel
68 vertical_side_panel Vertical side panel
69 vertical_side_panel Vertical side panel
70 vertical_front_panel Vertical Front Panel
71 leg Leg
72 leg Leg
73 leg Leg
74 leg Leg
80 drawer_rails Drawer rails
81 drawer_rails Drawer rails
82 drawer_box Drawer box
83 handle Handle
84 drawer_rails Drawer rails
85 drawer_rails Drawer rails
86 drawer_front Drawer front
87 drawer_side Drawer side
88 drawer_side Drawer side
89 drawer_back Drawer back
90 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/23511/tree_hier_after_merging.html b/PartNetMobility/Table/23511/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..b4a89bce845cbf603602029d6706d32420f854c0
--- /dev/null
+++ b/PartNetMobility/Table/23511/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
6 drawer_base drawer_base
4 board board
7 drawer drawer
15 back_panel back_panel
16 vertical_side_panel vertical_side_panel
17 vertical_side_panel vertical_side_panel
18 vertical_front_panel vertical_front_panel
19 leg leg
20 leg leg
21 leg leg
22 leg leg
8 drawer_box drawer_box
14 handle handle
9 drawer_front drawer_front
10 drawer_side drawer_side
11 drawer_side drawer_side
12 drawer_back drawer_back
13 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/23724/bounding_box.json b/PartNetMobility/Table/23724/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fdd85ae55cf0da3c84e3fb9d74ddb6b209bc67d
--- /dev/null
+++ b/PartNetMobility/Table/23724/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.739534, -0.468554, -0.625556], "max": [0.777151, 0.284425, 0.58348]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/23724/meta.json b/PartNetMobility/Table/23724/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0a3a2386963124e3194f5b91a1251dd50dc7cf2
--- /dev/null
+++ b/PartNetMobility/Table/23724/meta.json
@@ -0,0 +1 @@
+{"model_id": "6349f0d123ad1ca62ee5d388bdaf2f", "anno_id": "23724", "user_id": "shape02", "time_in_sec": "2204", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/23724/mobility.urdf b/PartNetMobility/Table/23724/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2f9e6606f9a90c6348a79a291ef3d6d2f35240d5
--- /dev/null
+++ b/PartNetMobility/Table/23724/mobility.urdf
@@ -0,0 +1,659 @@
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diff --git a/PartNetMobility/Table/23724/mobility_v2.json b/PartNetMobility/Table/23724/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6bb8df02de4f2f54cde5161f92007d2cf9fc5c2
--- /dev/null
+++ b/PartNetMobility/Table/23724/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":4,"joint":"slider","name":"drawer_box","parts":[{"id":44,"name":"drawer_front","children":[]},{"id":45,"name":"drawer_side","children":[]},{"id":46,"name":"drawer_side","children":[]},{"id":47,"name":"drawer_back","children":[]},{"id":48,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":-0.04800000000000004,"b":0.6160000000000001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":4,"joint":"slider","name":"drawer_box","parts":[{"id":56,"name":"drawer_front","children":[]},{"id":57,"name":"drawer_side","children":[]},{"id":58,"name":"drawer_side","children":[]},{"id":59,"name":"drawer_back","children":[]},{"id":60,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":-0.04800000000000004,"b":0.6320000000000001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":4,"joint":"slider","name":"drawer_box","parts":[{"id":64,"name":"drawer_front","children":[]},{"id":65,"name":"drawer_side","children":[]},{"id":66,"name":"drawer_side","children":[]},{"id":67,"name":"drawer_back","children":[]},{"id":68,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":-0.02400000000000002,"b":0.6400000000000001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":4,"joint":"slider","name":"drawer_box","parts":[{"id":70,"name":"drawer_front","children":[]},{"id":71,"name":"drawer_side","children":[]},{"id":72,"name":"drawer_side","children":[]},{"id":73,"name":"drawer_back","children":[]},{"id":74,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":-0.040000000000000036,"b":0.6160000000000001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":4,"parent":-1,"joint":"heavy","name":"tabletop","parts":[{"id":81,"name":"board","children":[]},{"id":79,"name":"other_leaf","children":[]},{"id":83,"name":"bar","children":[]},{"id":84,"name":"bar","children":[]},{"id":85,"name":"bar","children":[]},{"id":17,"name":"bottom_panel","children":[]},{"id":18,"name":"bottom_panel","children":[]},{"id":19,"name":"leg","children":[]},{"id":20,"name":"leg","children":[]},{"id":21,"name":"runner","children":[]},{"id":22,"name":"runner","children":[]},{"id":23,"name":"runner","children":[]},{"id":30,"name":"vertical_side_panel","children":[]},{"id":31,"name":"vertical_side_panel","children":[]},{"id":32,"name":"vertical_side_panel","children":[]},{"id":33,"name":"vertical_side_panel","children":[]},{"id":38,"name":"shelf","children":[]},{"id":39,"name":"shelf","children":[]},{"id":40,"name":"back_panel","children":[]},{"id":41,"name":"back_panel","children":[]},{"id":75,"name":"shelf","children":[]},{"id":76,"name":"shelf","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/23724/result.json b/PartNetMobility/Table/23724/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..88f82f5e7ecceb85826875485192ef55ee68aabf
--- /dev/null
+++ b/PartNetMobility/Table/23724/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-12"], "id": 81, "name": "board"}], "id": 77, "name": "tabletop_surface"}, {"text": "decoration (other)", "children": [{"text": "other_leaf", "objs": ["original-9"], "id": 79, "name": "other_leaf"}], "id": 78, "name": "other"}, {"text": "Tabletop frame", "children": [{"text": "Bar", "objs": ["new-27"], "id": 83, "name": "bar"}, {"text": "Bar", "objs": ["new-20"], "id": 84, "name": "bar"}, {"text": "Bar", "objs": ["new-26"], "id": 85, "name": "bar"}], "id": 82, "name": "tabletop_frame"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Bottom panel", "objs": ["new-6", "new-11"], "id": 17, "name": "bottom_panel"}, {"text": "Bottom panel", "objs": ["new-12", "original-10"], "id": 18, "name": "bottom_panel"}, {"text": "Leg", "objs": ["new-4"], "id": 19, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 20, "name": "leg"}, {"text": "Runner", "objs": ["new-17"], "id": 21, "name": "runner"}, {"text": "Runner", "objs": ["new-18"], "id": 22, "name": "runner"}, {"text": "Runner", "objs": ["new-19"], "id": 23, "name": "runner"}, {"text": "Vertical side panel", "objs": ["new-13"], "id": 30, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["new-15"], "id": 31, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["new-9"], "id": 32, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["new-5", "new-10"], "id": 33, "name": "vertical_side_panel"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["new-60"], "id": 44, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-59"], "id": 45, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-61"], "id": 46, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-58"], "id": 47, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-62"], "id": 48, "name": "drawer_bottom"}], "id": 42, "name": "drawer_box"}], "id": 34, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["new-70"], "id": 56, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-69"], "id": 57, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-71"], "id": 58, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-68"], "id": 59, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-72"], "id": 60, "name": "drawer_bottom"}], "id": 49, "name": "drawer_box"}], "id": 35, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["new-64"], "id": 64, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-63"], "id": 65, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-65"], "id": 66, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-66"], "id": 67, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-67"], "id": 68, "name": "drawer_bottom"}], "id": 63, "name": "drawer_box"}], "id": 36, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["new-53"], "id": 70, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-56"], "id": 71, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-54"], "id": 72, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-55"], "id": 73, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-57"], "id": 74, "name": "drawer_bottom"}], "id": 69, "name": "drawer_box"}], "id": 37, "name": "drawer"}, {"text": "Shelf", "objs": ["new-25", "new-23", "new-22"], "id": 38, "name": "shelf"}, {"text": "Shelf", "objs": ["new-14", "new-0", "new-1"], "id": 39, "name": "shelf"}, {"text": "Back panel", "objs": ["new-21"], "id": 40, "name": "back_panel"}, {"text": "Back panel", "objs": ["new-7"], "id": 41, "name": "back_panel"}, {"text": "Shelf", "objs": ["new-8"], "id": 75, "name": "shelf"}, {"text": "Shelf", "objs": ["new-16", "new-2", "new-24"], "id": 76, "name": "shelf"}], "id": 4, "name": "drawer_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/23724/result_after_merging.json b/PartNetMobility/Table/23724/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..86f624c4d58fd23c3895cd4c08dde834dfc4d812
--- /dev/null
+++ b/PartNetMobility/Table/23724/result_after_merging.json
@@ -0,0 +1 @@
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["new-53", "new-56", "new-54", "new-55", "new-57"], "children": [{"text": "drawer_box", "ori_id": 69, "objs": ["new-53", "new-56", "new-54", "new-55", "new-57"], "children": [{"text": "drawer_front", "ori_id": 70, "name": "drawer_front", "id": 42, "objs": ["new-53"]}, {"text": "drawer_side", "ori_id": 71, "name": "drawer_side", "id": 43, "objs": ["new-56"]}, {"text": "drawer_side", "ori_id": 72, "name": "drawer_side", "id": 44, "objs": ["new-54"]}, {"text": "drawer_back", "ori_id": 73, "name": "drawer_back", "id": 45, "objs": ["new-55"]}, {"text": "drawer_bottom", "ori_id": 74, "name": "drawer_bottom", "id": 46, "objs": ["new-57"]}], "name": "drawer_box", "id": 41}], "name": "drawer", "id": 40}, {"text": "shelf", "ori_id": 38, "name": "shelf", "id": 47, "objs": ["new-25", "new-23", "new-22"]}, {"text": "shelf", "ori_id": 39, "name": "shelf", "id": 48, "objs": ["new-14", "new-0", "new-1"]}, {"text": "back_panel", "ori_id": 40, "name": "back_panel", "id": 49, "objs": ["new-21"]}, {"text": "back_panel", "ori_id": 41, "name": "back_panel", "id": 50, "objs": ["new-7"]}, {"text": "shelf", "ori_id": 75, "name": "shelf", "id": 51, "objs": ["new-8"]}, {"text": "shelf", "ori_id": 76, "name": "shelf", "id": 52, "objs": ["new-16", "new-2", "new-24"]}], "name": "drawer_base", "id": 10}], "name": "table_base", "id": 9}], "name": "regular_table", "id": 1}], "name": "table", "id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/23724/semantics.txt b/PartNetMobility/Table/23724/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a11b2e735454365dac2245aa28954a1c9e80028
--- /dev/null
+++ b/PartNetMobility/Table/23724/semantics.txt
@@ -0,0 +1,5 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 slider drawer
+link_3 slider drawer
+link_4 heavy furniture_body
diff --git a/PartNetMobility/Table/23724/tree_hier.html b/PartNetMobility/Table/23724/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..9e2e86071da8a090261553925907620ca66ba8e9
--- /dev/null
+++ b/PartNetMobility/Table/23724/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
77 tabletop_surface Tabletop surface
78 other decoration (other)
82 tabletop_frame Tabletop frame
4 drawer_base Drawer Base
81 board Board
79 other_leaf other_leaf
83 bar Bar
84 bar Bar
85 bar Bar
17 bottom_panel Bottom panel
18 bottom_panel Bottom panel
19 leg Leg
20 leg Leg
21 runner Runner
22 runner Runner
23 runner Runner
30 vertical_side_panel Vertical side panel
31 vertical_side_panel Vertical side panel
32 vertical_side_panel Vertical side panel
33 vertical_side_panel Vertical side panel
34 drawer Drawer
35 drawer Drawer
36 drawer Drawer
37 drawer Drawer
38 shelf Shelf
39 shelf Shelf
40 back_panel Back panel
41 back_panel Back panel
75 shelf Shelf
76 shelf Shelf
42 drawer_box Drawer box
49 drawer_box Drawer box
63 drawer_box Drawer box
69 drawer_box Drawer box
44 drawer_front Drawer front
45 drawer_side Drawer side
46 drawer_side Drawer side
47 drawer_back Drawer back
48 drawer_bottom Drawer bottom
56 drawer_front Drawer front
57 drawer_side Drawer side
58 drawer_side Drawer side
59 drawer_back Drawer back
60 drawer_bottom Drawer bottom
64 drawer_front Drawer front
65 drawer_side Drawer side
66 drawer_side Drawer side
67 drawer_back Drawer back
68 drawer_bottom Drawer bottom
70 drawer_front Drawer front
71 drawer_side Drawer side
72 drawer_side Drawer side
73 drawer_back Drawer back
74 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/23724/tree_hier_after_merging.html b/PartNetMobility/Table/23724/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..ce8dad430ae587f2ffc9ec8bb2a7ed23c2ae182d
--- /dev/null
+++ b/PartNetMobility/Table/23724/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
9 table_base table_base
3 tabletop_surface tabletop_surface
5 tabletop_frame tabletop_frame
10 drawer_base drawer_base
4 board board
6 bar bar
7 bar bar
8 bar bar
11 bottom_panel bottom_panel
12 bottom_panel bottom_panel
13 leg leg
14 leg leg
15 vertical_side_panel vertical_side_panel
16 vertical_side_panel vertical_side_panel
17 vertical_side_panel vertical_side_panel
18 vertical_side_panel vertical_side_panel
19 drawer drawer
26 drawer drawer
33 drawer drawer
40 drawer drawer
47 shelf shelf
48 shelf shelf
49 back_panel back_panel
50 back_panel back_panel
51 shelf shelf
52 shelf shelf
20 drawer_box drawer_box
27 drawer_box drawer_box
34 drawer_box drawer_box
41 drawer_box drawer_box
21 drawer_front drawer_front
22 drawer_side drawer_side
23 drawer_side drawer_side
24 drawer_back drawer_back
25 drawer_bottom drawer_bottom
28 drawer_front drawer_front
29 drawer_side drawer_side
30 drawer_side drawer_side
31 drawer_back drawer_back
32 drawer_bottom drawer_bottom
35 drawer_front drawer_front
36 drawer_side drawer_side
37 drawer_side drawer_side
38 drawer_back drawer_back
39 drawer_bottom drawer_bottom
42 drawer_front drawer_front
43 drawer_side drawer_side
44 drawer_side drawer_side
45 drawer_back drawer_back
46 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/24152/bounding_box.json b/PartNetMobility/Table/24152/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..2af666088c173709bd7692b45ed78ac0d3f99c87
--- /dev/null
+++ b/PartNetMobility/Table/24152/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.905049, -0.278108, -0.251853], "max": [0.95901, 0.089518, 0.25147]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/24152/meta.json b/PartNetMobility/Table/24152/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..530a3751eee154fac3a4a017e955cd4dd31daa03
--- /dev/null
+++ b/PartNetMobility/Table/24152/meta.json
@@ -0,0 +1 @@
+{"model_id": "6b43398bac2b6979438d8caa9ae106fa", "anno_id": "24152", "user_id": "yz-majinghua", "time_in_sec": "319", "version": "4", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/24152/mobility.urdf b/PartNetMobility/Table/24152/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a2705b8c180311513e61ccf42a9edd1d41ee17ee
--- /dev/null
+++ b/PartNetMobility/Table/24152/mobility.urdf
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diff --git a/PartNetMobility/Table/24152/mobility_v2.json b/PartNetMobility/Table/24152/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e617b00656ae0eb239b65f334fe1d097ec892715
--- /dev/null
+++ b/PartNetMobility/Table/24152/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":70,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.915427212967765,-0.25107233412824526,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":71,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.915427212967765,-0.25107233412824526,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":66,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.8778635,-0.2510720487913363,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":67,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.8778635,-0.2510720487913363,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":11,"joint":"hinge","name":"wheel","parts":[{"id":62,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.8778635,-0.2510720487913363,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":11,"joint":"hinge","name":"wheel","parts":[{"id":63,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.8778635,-0.2510720487913363,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":12,"joint":"hinge","name":"wheel","parts":[{"id":58,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.915427212967765,-0.25107233412824526,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":12,"joint":"hinge","name":"wheel","parts":[{"id":59,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.915427212967765,-0.25107233412824526,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":-1,"joint":"heavy","name":"tabletop","parts":[{"id":51,"name":"glass","children":[]},{"id":47,"name":"bar","children":[]},{"id":48,"name":"bar","children":[]},{"id":49,"name":"bar","children":[]},{"id":50,"name":"bar","children":[]},{"id":10,"name":"tabletop_connector","children":[]},{"id":11,"name":"tabletop_connector","children":[]},{"id":12,"name":"tabletop_connector","children":[]},{"id":13,"name":"tabletop_connector","children":[]},{"id":14,"name":"shelf","children":[]},{"id":19,"name":"tabletop_connector","children":[]},{"id":20,"name":"tabletop_connector","children":[]},{"id":41,"name":"leg","children":[]},{"id":42,"name":"leg","children":[]},{"id":43,"name":"leg","children":[]},{"id":44,"name":"leg","children":[]}],"jointData":{}},{"id":9,"parent":8,"joint":"hinge","name":"caster_stem","parts":[{"id":69,"name":"caster_stem","children":[]},{"id":72,"name":"brake","children":[]}],"jointData":{"axis":{"origin":[0.906415321251549,0,-0.226891],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":8,"joint":"hinge","name":"caster_stem","parts":[{"id":65,"name":"caster_stem","children":[]},{"id":68,"name":"brake","children":[]}],"jointData":{"axis":{"origin":[-0.8868751301930048,0,-0.226891],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":8,"joint":"hinge","name":"caster_stem","parts":[{"id":61,"name":"caster_stem","children":[]},{"id":64,"name":"brake","children":[]}],"jointData":{"axis":{"origin":[-0.8868752986151988,0,0.225876],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":8,"joint":"hinge","name":"caster_stem","parts":[{"id":57,"name":"caster_stem","children":[]},{"id":60,"name":"brake","children":[]}],"jointData":{"axis":{"origin":[0.9031702564971822,0,0.2244519301483632],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/24152/result.json b/PartNetMobility/Table/24152/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..95aee02d96b13329756e61a6b12a690a523c2f6b
--- /dev/null
+++ b/PartNetMobility/Table/24152/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Glass", "objs": ["original-1"], "id": 51, "name": "glass"}], "id": 45, "name": "tabletop_surface"}, {"text": "Tabletop frame", "children": [{"text": "Bar", "objs": ["new-6"], "id": 47, "name": "bar"}, {"text": "Bar", "objs": ["new-4"], "id": 48, "name": "bar"}, {"text": "Bar", "objs": ["new-5"], "id": 49, "name": "bar"}, {"text": "Bar", "objs": ["new-7"], "id": 50, "name": "bar"}], "id": 46, "name": "tabletop_frame"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Shelving Base", "children": [{"text": "Tabletop Connector", "objs": ["original-6"], "id": 10, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-4"], "id": 11, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-5"], "id": 12, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-9"], "id": 13, "name": "tabletop_connector"}, {"text": "Shelf", "objs": ["original-3"], "id": 14, "name": "shelf"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-16"], "id": 69, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-18"], "id": 70, "name": "wheel"}, {"text": "Wheel", "objs": ["original-19"], "id": 71, "name": "wheel"}, {"text": "Brake", "objs": ["original-17"], "id": 72, "name": "brake"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-21"], "id": 65, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-24"], "id": 66, "name": "wheel"}, {"text": "Wheel", "objs": ["original-23"], "id": 67, "name": "wheel"}, {"text": "Brake", "objs": ["original-22"], "id": 68, "name": "brake"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-26"], "id": 61, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-29"], "id": 62, "name": "wheel"}, {"text": "Wheel", "objs": ["original-28"], "id": 63, "name": "wheel"}, {"text": "Brake", "objs": ["original-27"], "id": 64, "name": "brake"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-11"], "id": 57, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-13"], "id": 58, "name": "wheel"}, {"text": "Wheel", "objs": ["original-14"], "id": 59, "name": "wheel"}, {"text": "Brake", "objs": ["original-12"], "id": 60, "name": "brake"}], "id": 18, "name": "caster"}, {"text": "Tabletop Connector", "objs": ["original-8"], "id": 19, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-7"], "id": 20, "name": "tabletop_connector"}, {"text": "Leg", "objs": ["new-2"], "id": 41, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 42, "name": "leg"}, {"text": "Leg", "objs": ["new-0"], "id": 43, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 44, "name": "leg"}], "id": 4, "name": "shelving_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/24152/result_after_merging.json b/PartNetMobility/Table/24152/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..92e9e2bdfb9ec2cbf91961d30e51aad39ef5cb79
--- /dev/null
+++ b/PartNetMobility/Table/24152/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"children": [{"ori_id": 51, "objs": ["original-1"], "id": 4, "text": "glass", "name": "glass"}], "text": "tabletop_surface", "name": "tabletop_surface", "objs": ["original-1"], "ori_id": 45, "id": 3}, {"children": [{"ori_id": 47, "objs": ["new-6"], "id": 6, "text": "bar", "name": "bar"}, {"ori_id": 48, "objs": ["new-4"], "id": 7, "text": "bar", "name": "bar"}, {"ori_id": 49, "objs": ["new-5"], "id": 8, "text": "bar", "name": "bar"}, {"ori_id": 50, "objs": ["new-7"], "id": 9, "text": "bar", "name": "bar"}], "text": "tabletop_frame", "name": "tabletop_frame", "objs": ["new-6", "new-4", "new-5", "new-7"], "ori_id": 46, "id": 5}], "text": "tabletop", "name": "tabletop", "objs": ["original-1", "new-6", "new-4", "new-5", "new-7"], "ori_id": 2, "id": 2}, {"children": [{"children": [{"ori_id": 10, "objs": ["original-6"], "id": 12, "text": "tabletop_connector", "name": "tabletop_connector"}, {"ori_id": 11, "objs": ["original-4"], "id": 13, "text": "tabletop_connector", "name": "tabletop_connector"}, {"ori_id": 12, "objs": ["original-5"], "id": 14, "text": "tabletop_connector", "name": "tabletop_connector"}, {"ori_id": 13, "objs": ["original-9"], "id": 15, "text": "tabletop_connector", "name": "tabletop_connector"}, {"ori_id": 14, "objs": ["original-3"], "id": 16, "text": "shelf", "name": "shelf"}, {"children": [{"ori_id": 69, "objs": ["original-16"], "id": 18, "text": "caster_stem", "name": "caster_stem"}, {"ori_id": 70, "objs": ["original-18"], "id": 19, "text": "wheel", "name": "wheel"}, {"ori_id": 71, "objs": ["original-19"], "id": 20, "text": "wheel", "name": "wheel"}], "text": "caster", "name": "caster", "objs": ["original-16", "original-18", "original-19", "original-17"], "ori_id": 15, "id": 17}, {"children": [{"ori_id": 65, "objs": ["original-21"], "id": 22, "text": "caster_stem", "name": "caster_stem"}, {"ori_id": 66, "objs": ["original-24"], "id": 23, "text": "wheel", "name": "wheel"}, {"ori_id": 67, "objs": ["original-23"], "id": 24, "text": "wheel", "name": "wheel"}], "text": "caster", "name": "caster", "objs": ["original-21", "original-24", "original-23", "original-22"], "ori_id": 16, "id": 21}, {"children": [{"ori_id": 61, "objs": ["original-26"], "id": 26, "text": "caster_stem", "name": "caster_stem"}, {"ori_id": 62, "objs": ["original-29"], "id": 27, "text": "wheel", "name": "wheel"}, {"ori_id": 63, "objs": ["original-28"], "id": 28, "text": "wheel", "name": "wheel"}], "text": "caster", "name": "caster", "objs": ["original-26", "original-29", "original-28", "original-27"], "ori_id": 17, "id": 25}, {"children": [{"ori_id": 57, "objs": ["original-11"], "id": 30, "text": "caster_stem", "name": "caster_stem"}, {"ori_id": 58, "objs": ["original-13"], "id": 31, "text": "wheel", "name": "wheel"}, {"ori_id": 59, "objs": ["original-14"], "id": 32, "text": "wheel", "name": "wheel"}], "text": "caster", "name": "caster", "objs": ["original-11", "original-13", "original-14", "original-12"], "ori_id": 18, "id": 29}, {"ori_id": 19, "objs": ["original-8"], "id": 33, "text": "tabletop_connector", "name": "tabletop_connector"}, {"ori_id": 20, "objs": ["original-7"], "id": 34, "text": "tabletop_connector", "name": "tabletop_connector"}, {"ori_id": 41, "objs": ["new-2"], "id": 35, "text": "leg", "name": "leg"}, {"ori_id": 42, "objs": ["new-1"], "id": 36, "text": "leg", "name": "leg"}, {"ori_id": 43, "objs": ["new-0"], "id": 37, "text": "leg", "name": "leg"}, {"ori_id": 44, "objs": ["new-3"], "id": 38, "text": "leg", "name": "leg"}], "text": "drawer_base", "name": "drawer_base", "objs": ["original-6", "original-4", "original-5", "original-9", "original-3", "original-16", "original-18", "original-19", "original-17", "original-21", "original-24", "original-23", "original-22", "original-26", "original-29", "original-28", "original-27", "original-11", "original-13", "original-14", "original-12", "original-8", "original-7", "new-2", "new-1", "new-0", "new-3"], "ori_id": 4, "id": 11}], "text": "table_base", "name": "table_base", "objs": ["original-6", "original-4", "original-5", "original-9", "original-3", "original-16", "original-18", "original-19", "original-17", "original-21", "original-24", "original-23", "original-22", "original-26", "original-29", "original-28", "original-27", "original-11", "original-13", "original-14", "original-12", "original-8", "original-7", "new-2", "new-1", "new-0", "new-3"], "ori_id": 3, "id": 10}], "text": "regular_table", "name": "regular_table", "objs": ["original-1", "new-6", "new-4", "new-5", "new-7", "original-6", "original-4", "original-5", "original-9", "original-3", "original-16", "original-18", "original-19", "original-17", "original-21", "original-24", "original-23", "original-22", "original-26", "original-29", "original-28", "original-27", "original-11", "original-13", "original-14", "original-12", "original-8", "original-7", "new-2", "new-1", "new-0", "new-3"], "ori_id": 1, "id": 1}], "text": "table", "name": "table", "objs": ["original-1", "new-6", "new-4", "new-5", "new-7", "original-6", "original-4", "original-5", "original-9", "original-3", "original-16", "original-18", "original-19", "original-17", "original-21", "original-24", "original-23", "original-22", "original-26", "original-29", "original-28", "original-27", "original-11", "original-13", "original-14", "original-12", "original-8", "original-7", "new-2", "new-1", "new-0", "new-3"], "ori_id": 0, "id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/24152/semantics.txt b/PartNetMobility/Table/24152/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9e8aa819e6ffc45269131e29e836b5e09cab1c22
--- /dev/null
+++ b/PartNetMobility/Table/24152/semantics.txt
@@ -0,0 +1,13 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge wheel
+link_5 hinge wheel
+link_6 hinge wheel
+link_7 hinge wheel
+link_8 heavy furniture_body
+link_9 hinge caster
+link_10 hinge caster
+link_11 hinge caster
+link_12 hinge caster
diff --git a/PartNetMobility/Table/24152/tree_hier.html b/PartNetMobility/Table/24152/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..65adafbf6fc8ac0ddedb34d1d2bdfa69e370ac4a
--- /dev/null
+++ b/PartNetMobility/Table/24152/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
45 tabletop_surface Tabletop surface
46 tabletop_frame Tabletop frame
4 shelving_base Shelving Base
51 glass Glass
47 bar Bar
48 bar Bar
49 bar Bar
50 bar Bar
10 tabletop_connector Tabletop Connector
11 tabletop_connector Tabletop Connector
12 tabletop_connector Tabletop Connector
13 tabletop_connector Tabletop Connector
14 shelf Shelf
15 caster Wheel Assembly
16 caster Wheel Assembly
17 caster Wheel Assembly
18 caster Wheel Assembly
19 tabletop_connector Tabletop Connector
20 tabletop_connector Tabletop Connector
41 leg Leg
42 leg Leg
43 leg Leg
44 leg Leg
69 caster_stem Caster Stem
70 wheel Wheel
71 wheel Wheel
72 brake Brake
65 caster_stem Caster Stem
66 wheel Wheel
67 wheel Wheel
68 brake Brake
61 caster_stem Caster Stem
62 wheel Wheel
63 wheel Wheel
64 brake Brake
57 caster_stem Caster Stem
58 wheel Wheel
59 wheel Wheel
60 brake Brake
\ No newline at end of file
diff --git a/PartNetMobility/Table/24152/tree_hier_after_merging.html b/PartNetMobility/Table/24152/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..fab493cc4d0e508b50f53e5ae9bf4da3a21a0438
--- /dev/null
+++ b/PartNetMobility/Table/24152/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
10 table_base table_base
3 tabletop_surface tabletop_surface
5 tabletop_frame tabletop_frame
11 drawer_base drawer_base
4 glass glass
6 bar bar
7 bar bar
8 bar bar
9 bar bar
12 tabletop_connector tabletop_connector
13 tabletop_connector tabletop_connector
14 tabletop_connector tabletop_connector
15 tabletop_connector tabletop_connector
16 shelf shelf
17 caster caster
21 caster caster
25 caster caster
29 caster caster
33 tabletop_connector tabletop_connector
34 tabletop_connector tabletop_connector
35 leg leg
36 leg leg
37 leg leg
38 leg leg
18 caster_stem caster_stem
19 wheel wheel
20 wheel wheel
22 caster_stem caster_stem
23 wheel wheel
24 wheel wheel
26 caster_stem caster_stem
27 wheel wheel
28 wheel wheel
30 caster_stem caster_stem
31 wheel wheel
32 wheel wheel
\ No newline at end of file
diff --git a/PartNetMobility/Table/24644/bounding_box.json b/PartNetMobility/Table/24644/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..76b7e8add27f479fe303bb1dc861910949f14d4c
--- /dev/null
+++ b/PartNetMobility/Table/24644/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.577323, -0.718061, -0.419854], "max": [0.586579, 0.27957, 0.456322]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/24644/meta.json b/PartNetMobility/Table/24644/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdf58097d5fe8ecc378c3a48d06f3527cd51134a
--- /dev/null
+++ b/PartNetMobility/Table/24644/meta.json
@@ -0,0 +1 @@
+{"model_id": "74b8222078ba776c661673811de66400", "anno_id": "24644", "user_id": "shape03", "time_in_sec": "205", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/24644/mobility.urdf b/PartNetMobility/Table/24644/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2ca7a805e883b80c2dff6719dd80440e414969c1
--- /dev/null
+++ b/PartNetMobility/Table/24644/mobility.urdf
@@ -0,0 +1,188 @@
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diff --git a/PartNetMobility/Table/24644/mobility_v2.json b/PartNetMobility/Table/24644/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..57270e01db39605391e5c4e38302b4452e029d54
--- /dev/null
+++ b/PartNetMobility/Table/24644/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"drawer","parts":[{"id":18,"name":"drawer_front","children":[]},{"id":19,"name":"drawer_side","children":[]},{"id":20,"name":"drawer_side","children":[]},{"id":21,"name":"drawer_back","children":[]},{"id":22,"name":"drawer_bottom","children":[]},{"id":17,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.508,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":24,"name":"board","children":[]},{"id":7,"name":"vertical_side_panel","children":[]},{"id":8,"name":"vertical_side_panel","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]},{"id":15,"name":"back_panel","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/24644/result.json b/PartNetMobility/Table/24644/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c25939501d0bcbc7858c29d94a84632a26b4ac2f
--- /dev/null
+++ b/PartNetMobility/Table/24644/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-10"], "id": 24, "name": "board"}], "id": 23, "name": "tabletop_surface"}], "id": 3, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Vertical side panel", "objs": ["original-6"], "id": 7, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-7"], "id": 8, "name": "vertical_side_panel"}, {"text": "Leg", "objs": ["original-3"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-2"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-4"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-5"], "id": 13, "name": "leg"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["new-0"], "id": 18, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-1"], "id": 19, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-3"], "id": 20, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-2"], "id": 21, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-5"], "id": 22, "name": "drawer_bottom"}], "id": 16, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-1"], "id": 17, "name": "handle"}], "id": 14, "name": "drawer"}, {"text": "Back panel", "objs": ["original-9"], "id": 15, "name": "back_panel"}], "id": 4, "name": "drawer_base"}], "id": 2, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/24644/result_after_merging.json b/PartNetMobility/Table/24644/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..f82aa18ccec031c8083649979b38ff7f833ba90a
--- /dev/null
+++ b/PartNetMobility/Table/24644/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "table", "name": "table", "objs": ["original-10", "original-6", "original-7", "original-3", "original-2", "original-4", "original-5", "new-0", "new-1", "new-3", "new-2", "new-5", "original-1", "original-9"], "id": 0, "children": [{"text": "regular_table", "name": "regular_table", "objs": ["original-10", "original-6", "original-7", "original-3", "original-2", "original-4", "original-5", "new-0", "new-1", "new-3", "new-2", "new-5", "original-1", "original-9"], "id": 1, "children": [{"text": "tabletop", "name": "tabletop", "objs": ["original-10"], "id": 2, "children": [{"text": "tabletop_surface", "name": "tabletop_surface", "objs": ["original-10"], "id": 3, "children": [{"text": "board", "id": 4, "ori_id": 24, "name": "board", "objs": ["original-10"]}], "ori_id": 23}], "ori_id": 3}, {"text": "drawer_base", "name": "drawer_base", "objs": ["original-6", "original-7", "original-3", "original-2", "original-4", "original-5", "new-0", "new-1", "new-3", "new-2", "new-5", "original-1", "original-9"], "id": 5, "children": [{"text": "vertical_side_panel", "id": 6, "ori_id": 7, "name": "vertical_side_panel", "objs": ["original-6"]}, {"text": "vertical_side_panel", "id": 7, "ori_id": 8, "name": "vertical_side_panel", "objs": ["original-7"]}, {"text": "leg", "id": 8, "ori_id": 10, "name": "leg", "objs": ["original-3"]}, {"text": "leg", "id": 9, "ori_id": 11, "name": "leg", "objs": ["original-2"]}, {"text": "leg", "id": 10, "ori_id": 12, "name": "leg", "objs": ["original-4"]}, {"text": "leg", "id": 11, "ori_id": 13, "name": "leg", "objs": ["original-5"]}, {"text": "drawer", "name": "drawer", "objs": ["new-0", "new-1", "new-3", "new-2", "new-5", "original-1"], "id": 12, "children": [{"text": "drawer_box", "name": "drawer_box", "objs": ["new-0", "new-1", "new-3", "new-2", "new-5"], "id": 13, "children": [{"text": "drawer_front", "id": 14, "ori_id": 18, "name": "drawer_front", "objs": ["new-0"]}, {"text": "drawer_side", "id": 15, "ori_id": 19, "name": "drawer_side", "objs": ["new-1"]}, {"text": "drawer_side", "id": 16, "ori_id": 20, "name": "drawer_side", "objs": ["new-3"]}, {"text": "drawer_back", "id": 17, "ori_id": 21, "name": "drawer_back", "objs": ["new-2"]}, {"text": "drawer_bottom", "id": 18, "ori_id": 22, "name": "drawer_bottom", "objs": ["new-5"]}], "ori_id": 16}, {"text": "handle", "id": 19, "ori_id": 17, "name": "handle", "objs": ["original-1"]}], "ori_id": 14}, {"text": "back_panel", "id": 20, "ori_id": 15, "name": "back_panel", "objs": ["original-9"]}], "ori_id": 4}], "ori_id": 2}], "ori_id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/24644/semantics.txt b/PartNetMobility/Table/24644/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e633624fa79600e01561864dbeb1d30368693f9a
--- /dev/null
+++ b/PartNetMobility/Table/24644/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider drawer
+link_1 heavy furniture_body
diff --git a/PartNetMobility/Table/24644/tree_hier.html b/PartNetMobility/Table/24644/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..e3c6654b777fe4309d391fa6e823313d0470bda8
--- /dev/null
+++ b/PartNetMobility/Table/24644/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
2 desk Desk
3 tabletop Tabletop
4 drawer_base Drawer Base
23 tabletop_surface Tabletop surface
7 vertical_side_panel Vertical side panel
8 vertical_side_panel Vertical side panel
10 leg Leg
11 leg Leg
12 leg Leg
13 leg Leg
14 drawer Drawer
15 back_panel Back panel
24 board Board
16 drawer_box Drawer box
17 handle Handle
18 drawer_front Drawer front
19 drawer_side Drawer side
20 drawer_side Drawer side
21 drawer_back Drawer back
22 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/24644/tree_hier_after_merging.html b/PartNetMobility/Table/24644/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..aa04ec926c1f1f3d4231d41043841fe9c9e53ce6
--- /dev/null
+++ b/PartNetMobility/Table/24644/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 drawer_base drawer_base
3 tabletop_surface tabletop_surface
6 vertical_side_panel vertical_side_panel
7 vertical_side_panel vertical_side_panel
8 leg leg
9 leg leg
10 leg leg
11 leg leg
12 drawer drawer
20 back_panel back_panel
4 board board
13 drawer_box drawer_box
19 handle handle
14 drawer_front drawer_front
15 drawer_side drawer_side
16 drawer_side drawer_side
17 drawer_back drawer_back
18 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/24931/bounding_box.json b/PartNetMobility/Table/24931/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e4081d244b74bce1be3186de87551428ed3ed9b
--- /dev/null
+++ b/PartNetMobility/Table/24931/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.741382, -0.678587, -0.447151], "max": [0.72002, 0.125008, 0.521957]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/24931/meta.json b/PartNetMobility/Table/24931/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ba1eeddd23c60a04676ed5ff33923f4eb601296
--- /dev/null
+++ b/PartNetMobility/Table/24931/meta.json
@@ -0,0 +1 @@
+{"model_id": "7b5b7bfa8580e913e2580b23e60e4674", "anno_id": "24931", "user_id": "shape21", "time_in_sec": "299", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/24931/mobility.urdf b/PartNetMobility/Table/24931/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0618d123ada5092ae8bb52776aa7f74fa5c880f6
--- /dev/null
+++ b/PartNetMobility/Table/24931/mobility.urdf
@@ -0,0 +1,596 @@
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diff --git a/PartNetMobility/Table/24931/mobility_v2.json b/PartNetMobility/Table/24931/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..245678f951c9a953d02b7e7c36f8a732754f3f2a
--- /dev/null
+++ b/PartNetMobility/Table/24931/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"heavy","name":"tabletop","parts":[{"id":33,"name":"board","children":[]},{"id":36,"name":"bar","children":[]},{"id":37,"name":"bar","children":[]},{"id":38,"name":"bar","children":[]},{"id":39,"name":"bar","children":[]},{"id":8,"name":"leg","children":[]},{"id":9,"name":"leg","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":16,"name":"back_panel","children":[]},{"id":17,"name":"vertical_side_panel","children":[]},{"id":18,"name":"vertical_side_panel","children":[]},{"id":19,"name":"vertical_front_panel","children":[]},{"id":34,"name":"tabletop_connector","children":[]},{"id":22,"name":"drawer_rails","children":[]},{"id":23,"name":"drawer_rails","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"slider","name":"handle","parts":[{"id":25,"name":"handle","children":[]},{"id":26,"name":"handle","children":[]},{"id":27,"name":"drawer_front","children":[]},{"id":28,"name":"drawer_side","children":[]},{"id":29,"name":"drawer_side","children":[]},{"id":30,"name":"drawer_back","children":[]},{"id":31,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":-0.18799999999999994,"b":0.2599999999999998,"noLimit":false}}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/24931/result.json b/PartNetMobility/Table/24931/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf7d82ab29b4671a6d53730382fc46fd7b471d8d
--- /dev/null
+++ b/PartNetMobility/Table/24931/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-48"], "id": 33, "name": "board"}], "id": 32, "name": "tabletop_surface"}, {"text": "Tabletop frame", "children": [{"text": "Bar", "objs": ["original-50", "original-57"], "id": 36, "name": "bar"}, {"text": "Bar", "objs": ["original-53", "original-54"], "id": 37, "name": "bar"}, {"text": "Bar", "objs": ["original-51", "original-55"], "id": 38, "name": "bar"}, {"text": "Bar", "objs": ["original-52", "original-56"], "id": 39, "name": "bar"}], "id": 35, "name": "tabletop_frame"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Leg", "objs": ["original-32", "original-33", "original-34", "original-31"], "id": 8, "name": "leg"}, {"text": "Leg", "objs": ["original-22", "original-23", "original-24", "original-21"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["original-27", "original-29", "original-28", "original-26"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-37", "original-38", "original-39", "original-36"], "id": 11, "name": "leg"}, {"text": "Drawer", "children": [{"text": "Drawer rails", "objs": ["original-41"], "id": 22, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-42"], "id": 23, "name": "drawer_rails"}, {"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-18", "original-5", "original-11", "original-7", "original-9", "original-12", "original-8", "original-13", "original-10", "original-6"], "id": 27, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-15"], "id": 28, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-16"], "id": 29, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-14"], "id": 30, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-17"], "id": 31, "name": "drawer_bottom"}], "id": 24, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-4"], "id": 25, "name": "handle"}, {"text": "Handle", "objs": ["original-3"], "id": 26, "name": "handle"}], "id": 15, "name": "drawer"}, {"text": "Back panel", "objs": ["original-44"], "id": 16, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-45"], "id": 17, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-46"], "id": 18, "name": "vertical_side_panel"}, {"text": "Vertical Front Panel", "objs": ["original-43"], "id": 19, "name": "vertical_front_panel"}, {"text": "Tabletop Connector", "objs": ["original-47"], "id": 34, "name": "tabletop_connector"}], "id": 4, "name": "drawer_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/24931/result_after_merging.json b/PartNetMobility/Table/24931/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e0078e8ec1a6bbd683d9d775bde48b52fe48aca
--- /dev/null
+++ b/PartNetMobility/Table/24931/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["original-48", "original-50", "original-57", "original-53", "original-54", "original-51", "original-55", "original-52", "original-56", "original-32", "original-33", "original-34", "original-31", "original-22", "original-23", "original-24", "original-21", "original-27", "original-29", "original-28", "original-26", "original-37", "original-38", "original-39", "original-36", "original-41", "original-42", "original-18", "original-5", "original-11", "original-7", "original-9", "original-12", "original-8", "original-13", "original-10", "original-6", "original-15", "original-16", "original-14", "original-17", "original-4", "original-3", "original-44", "original-45", "original-46", "original-43", "original-47"], "name": "table", "ori_id": 0, "text": "table", "children": [{"objs": ["original-48", "original-50", "original-57", "original-53", "original-54", "original-51", "original-55", "original-52", "original-56", "original-32", "original-33", "original-34", "original-31", 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"id": 3}, {"objs": ["original-50", "original-57", "original-53", "original-54", "original-51", "original-55", "original-52", "original-56"], "name": "tabletop_frame", "ori_id": 35, "text": "tabletop_frame", "children": [{"id": 6, "objs": ["original-50", "original-57"], "text": "bar", "ori_id": 36, "name": "bar"}, {"id": 7, "objs": ["original-53", "original-54"], "text": "bar", "ori_id": 37, "name": "bar"}, {"id": 8, "objs": ["original-51", "original-55"], "text": "bar", "ori_id": 38, "name": "bar"}, {"id": 9, "objs": ["original-52", "original-56"], "text": "bar", "ori_id": 39, "name": "bar"}], "id": 5}], "id": 2}, {"objs": ["original-32", "original-33", "original-34", "original-31", "original-22", "original-23", "original-24", "original-21", "original-27", "original-29", "original-28", "original-26", "original-37", "original-38", "original-39", "original-36", "original-41", "original-42", "original-18", "original-5", "original-11", "original-7", "original-9", "original-12", "original-8", "original-13", "original-10", "original-6", "original-15", "original-16", "original-14", "original-17", "original-4", "original-3", "original-44", "original-45", "original-46", "original-43", "original-47"], "name": "table_base", "ori_id": 3, "text": "table_base", "children": [{"objs": ["original-32", "original-33", "original-34", "original-31", "original-22", "original-23", "original-24", "original-21", "original-27", "original-29", "original-28", "original-26", "original-37", "original-38", "original-39", "original-36", "original-41", "original-42", "original-18", "original-5", "original-11", "original-7", "original-9", "original-12", "original-8", "original-13", "original-10", "original-6", "original-15", "original-16", "original-14", "original-17", "original-4", "original-3", "original-44", "original-45", "original-46", "original-43", "original-47"], "name": "drawer_base", "ori_id": 4, "text": "drawer_base", "children": [{"id": 12, "objs": ["original-32", "original-33", "original-34", "original-31"], "text": "leg", "ori_id": 8, "name": "leg"}, {"id": 13, "objs": ["original-22", "original-23", "original-24", "original-21"], "text": "leg", "ori_id": 9, "name": "leg"}, {"id": 14, "objs": ["original-27", "original-29", "original-28", "original-26"], "text": "leg", "ori_id": 10, "name": "leg"}, {"id": 15, "objs": ["original-37", "original-38", "original-39", "original-36"], "text": "leg", "ori_id": 11, "name": "leg"}, {"objs": ["original-41", "original-42", "original-18", "original-5", "original-11", "original-7", "original-9", "original-12", "original-8", "original-13", "original-10", "original-6", "original-15", "original-16", "original-14", "original-17", "original-4", "original-3"], "name": "drawer", "ori_id": 15, "text": "drawer", "children": [{"objs": ["original-18", "original-5", "original-11", "original-7", "original-9", "original-12", "original-8", "original-13", "original-10", "original-6", "original-15", "original-16", "original-14", "original-17"], "name": "drawer_box", "ori_id": 24, "text": "drawer_box", "children": [{"id": 18, "objs": ["original-18", "original-5", "original-11", "original-7", "original-9", "original-12", "original-8", "original-13", "original-10", "original-6"], "text": "drawer_front", "ori_id": 27, "name": "drawer_front"}, {"id": 19, "objs": ["original-15"], "text": "drawer_side", "ori_id": 28, "name": "drawer_side"}, {"id": 20, "objs": ["original-16"], "text": "drawer_side", "ori_id": 29, "name": "drawer_side"}, {"id": 21, "objs": ["original-14"], "text": "drawer_back", "ori_id": 30, "name": "drawer_back"}, {"id": 22, "objs": ["original-17"], "text": "drawer_bottom", "ori_id": 31, "name": "drawer_bottom"}], "id": 17}, {"id": 23, "objs": ["original-4"], "text": "handle", "ori_id": 25, "name": "handle"}, {"id": 24, "objs": ["original-3"], "text": "handle", "ori_id": 26, "name": "handle"}], "id": 16}, {"id": 25, "objs": ["original-44"], "text": "back_panel", "ori_id": 16, "name": "back_panel"}, {"id": 26, "objs": ["original-45"], "text": "vertical_side_panel", "ori_id": 17, "name": "vertical_side_panel"}, {"id": 27, "objs": ["original-46"], "text": "vertical_side_panel", "ori_id": 18, "name": "vertical_side_panel"}, {"id": 28, "objs": ["original-43"], "text": "vertical_front_panel", "ori_id": 19, "name": "vertical_front_panel"}, {"id": 29, "objs": ["original-47"], "text": "tabletop_connector", "ori_id": 34, "name": "tabletop_connector"}], "id": 11}], "id": 10}], "id": 1}], "id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/24931/semantics.txt b/PartNetMobility/Table/24931/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..016fd9cd3e120f8974147b7b8fc554034282c453
--- /dev/null
+++ b/PartNetMobility/Table/24931/semantics.txt
@@ -0,0 +1,2 @@
+link_0 heavy furniture_body
+link_1 slider drawer
diff --git a/PartNetMobility/Table/24931/tree_hier.html b/PartNetMobility/Table/24931/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..03a1ad87c33a5abb1f9086e26162292202d34050
--- /dev/null
+++ b/PartNetMobility/Table/24931/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
32 tabletop_surface Tabletop surface
35 tabletop_frame Tabletop frame
4 drawer_base Drawer Base
33 board Board
36 bar Bar
37 bar Bar
38 bar Bar
39 bar Bar
8 leg Leg
9 leg Leg
10 leg Leg
11 leg Leg
15 drawer Drawer
16 back_panel Back panel
17 vertical_side_panel Vertical side panel
18 vertical_side_panel Vertical side panel
19 vertical_front_panel Vertical Front Panel
34 tabletop_connector Tabletop Connector
22 drawer_rails Drawer rails
23 drawer_rails Drawer rails
24 drawer_box Drawer box
25 handle Handle
26 handle Handle
27 drawer_front Drawer front
28 drawer_side Drawer side
29 drawer_side Drawer side
30 drawer_back Drawer back
31 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/24931/tree_hier_after_merging.html b/PartNetMobility/Table/24931/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..6fb99076f68cdfb09a0e6cbd938033bb0a1218c5
--- /dev/null
+++ b/PartNetMobility/Table/24931/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
10 table_base table_base
3 tabletop_surface tabletop_surface
5 tabletop_frame tabletop_frame
11 drawer_base drawer_base
4 board board
6 bar bar
7 bar bar
8 bar bar
9 bar bar
12 leg leg
13 leg leg
14 leg leg
15 leg leg
16 drawer drawer
25 back_panel back_panel
26 vertical_side_panel vertical_side_panel
27 vertical_side_panel vertical_side_panel
28 vertical_front_panel vertical_front_panel
29 tabletop_connector tabletop_connector
17 drawer_box drawer_box
23 handle handle
24 handle handle
18 drawer_front drawer_front
19 drawer_side drawer_side
20 drawer_side drawer_side
21 drawer_back drawer_back
22 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/25160/bounding_box.json b/PartNetMobility/Table/25160/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..23772cef5fdf21d0b50a29f5a68bd1f396505b13
--- /dev/null
+++ b/PartNetMobility/Table/25160/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.545169, -0.68419, -0.561624], "max": [0.520119, 0.279063, 0.552399]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/25160/meta.json b/PartNetMobility/Table/25160/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f94869a9ee7bce3a277da8b044b3cbe02329cf52
--- /dev/null
+++ b/PartNetMobility/Table/25160/meta.json
@@ -0,0 +1 @@
+{"model_id": "7ff6c7f050eecd378c9b2896f4602557", "anno_id": "25160", "user_id": "shape05", "time_in_sec": "386", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/25160/mobility.urdf b/PartNetMobility/Table/25160/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2bac00a8801f6d4caa012468744cea565d07b90c
--- /dev/null
+++ b/PartNetMobility/Table/25160/mobility.urdf
@@ -0,0 +1,751 @@
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diff --git a/PartNetMobility/Table/25160/mobility_v2.json b/PartNetMobility/Table/25160/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..415e3ed6f2a1e1c64a2e2681fa6239df02ec210e
--- /dev/null
+++ b/PartNetMobility/Table/25160/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":24,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6260967226484558,0.49430616584831627],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":22,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6260967226484558,0.49430616584831627],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":20,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6260969352328438,-0.5035307128555954],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":18,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6260969352328438,-0.5035307128555954],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":-1,"joint":"heavy","name":"tabletop","parts":[{"id":30,"name":"bar","children":[]},{"id":31,"name":"bar","children":[]},{"id":32,"name":"bar","children":[]},{"id":33,"name":"bar","children":[]},{"id":34,"name":"bar","children":[]},{"id":35,"name":"bar","children":[]},{"id":36,"name":"bar","children":[]},{"id":37,"name":"bar","children":[]},{"id":27,"name":"other_leaf","children":[]},{"id":5,"name":"leg","children":[]},{"id":6,"name":"leg","children":[]},{"id":7,"name":"leg","children":[]},{"id":8,"name":"leg","children":[]},{"id":13,"name":"bar_stretcher","children":[]},{"id":14,"name":"bar_stretcher","children":[]},{"id":15,"name":"bar_stretcher","children":[]},{"id":16,"name":"bar_stretcher","children":[]},{"id":23,"name":"caster_yoke","children":[]},{"id":21,"name":"caster_yoke","children":[]},{"id":19,"name":"caster_yoke","children":[]},{"id":17,"name":"caster_yoke","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/25160/result.json b/PartNetMobility/Table/25160/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdd2d2a6921e36ed170f726d259550c2bdd4131f
--- /dev/null
+++ b/PartNetMobility/Table/25160/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Bar", "objs": ["original-29"], "id": 30, "name": "bar"}, {"text": "Bar", "objs": ["original-32"], "id": 31, "name": "bar"}, {"text": "Bar", "objs": ["original-31"], "id": 32, "name": "bar"}, {"text": "Bar", "objs": ["original-34"], "id": 33, "name": "bar"}, {"text": "Bar", "objs": ["original-36"], "id": 34, "name": "bar"}, {"text": "Bar", "objs": ["original-38"], "id": 35, "name": "bar"}, {"text": "Bar", "objs": ["original-39"], "id": 36, "name": "bar"}, {"text": "Bar", "objs": ["original-48"], "id": 37, "name": "bar"}], "id": 25, "name": "tabletop_surface"}, {"text": "Table fence (other)", "children": [{"text": "other_leaf", "objs": ["original-5", "original-19", "original-20", "original-2", "original-21", "original-7", "original-18", "original-17", "original-16", "original-9", "original-12", "original-14", "original-10", "original-11", "original-23", "original-13", "original-26", "original-28", "original-24", "original-25", "original-27", "original-6", "original-4", "original-76", "original-3"], "id": 27, "name": "other_leaf"}], "id": 26, "name": "other"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Regular Leg Base", "children": [{"text": "Leg", "objs": ["original-30"], "id": 5, "name": "leg"}, {"text": "Leg", "objs": ["original-37"], "id": 6, "name": "leg"}, {"text": "Leg", "objs": ["original-35"], "id": 7, "name": "leg"}, {"text": "Leg", "objs": ["original-33"], "id": 8, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-71", "original-70", "original-72"], "id": 23, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-75"], "id": 24, "name": "wheel"}], "id": 9, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-61", "original-59", "original-60", "original-63"], "id": 21, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-64"], "id": 22, "name": "wheel"}], "id": 10, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-52", "original-55", "original-53", "original-51"], "id": 19, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-56"], "id": 20, "name": "wheel"}], "id": 11, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-43", "original-42", "original-44"], "id": 17, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-47"], "id": 18, "name": "wheel"}], "id": 12, "name": "caster"}, {"text": "Bar Stretcher", "objs": ["original-77"], "id": 13, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-67"], "id": 14, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-65"], "id": 15, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-66"], "id": 16, "name": "bar_stretcher"}], "id": 4, "name": "regular_leg_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/25160/result_after_merging.json b/PartNetMobility/Table/25160/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..360cb6df7fb936fc6a048faf2d64bb04c2c858d3
--- /dev/null
+++ b/PartNetMobility/Table/25160/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "table", "ori_id": 0, "children": [{"name": "regular_table", "ori_id": 1, "children": [{"name": "tabletop", "ori_id": 2, "children": [{"name": "tabletop_surface", "ori_id": 25, "children": [{"name": "bar", "ori_id": 30, "id": 4, "text": "bar", "objs": ["original-29"]}, {"name": "bar", "ori_id": 31, "id": 5, "text": "bar", "objs": ["original-32"]}, {"name": "bar", "ori_id": 32, "id": 6, "text": "bar", "objs": ["original-31"]}, {"name": "bar", "ori_id": 33, "id": 7, "text": "bar", "objs": ["original-34"]}, {"name": "bar", "ori_id": 34, "id": 8, "text": "bar", "objs": ["original-36"]}, {"name": "bar", "ori_id": 35, "id": 9, "text": "bar", "objs": ["original-38"]}, {"name": "bar", "ori_id": 36, "id": 10, "text": "bar", "objs": ["original-39"]}, {"name": "bar", "ori_id": 37, "id": 11, "text": "bar", "objs": ["original-48"]}], "objs": ["original-29", "original-32", "original-31", "original-34", "original-36", "original-38", "original-39", "original-48"], "id": 3, "text": "tabletop_surface"}], "objs": ["original-29", "original-32", "original-31", "original-34", "original-36", "original-38", "original-39", "original-48", "original-5", "original-19", "original-20", "original-2", "original-21", "original-7", "original-18", "original-17", "original-16", "original-9", "original-12", "original-14", "original-10", "original-11", "original-23", "original-13", "original-26", "original-28", "original-24", "original-25", "original-27", "original-6", "original-4", "original-76", "original-3"], "id": 2, "text": "tabletop"}, {"name": "table_base", "ori_id": 3, "children": [{"name": "regular_leg_base", "ori_id": 4, "children": [{"name": "leg", "ori_id": 5, "id": 14, "text": "leg", "objs": ["original-30"]}, {"name": "leg", "ori_id": 6, "id": 15, "text": "leg", "objs": ["original-37"]}, {"name": "leg", "ori_id": 7, "id": 16, "text": "leg", "objs": ["original-35"]}, {"name": "leg", "ori_id": 8, "id": 17, "text": "leg", "objs": ["original-33"]}, {"name": "caster", "ori_id": 9, "children": [{"name": "wheel", "ori_id": 24, "id": 19, "text": "wheel", "objs": ["original-75"]}], "objs": ["original-71", "original-70", "original-72", "original-75"], "id": 18, "text": "caster"}, {"name": "caster", "ori_id": 10, "children": [{"name": "wheel", "ori_id": 22, "id": 21, "text": "wheel", "objs": ["original-64"]}], "objs": ["original-61", "original-59", "original-60", "original-63", "original-64"], "id": 20, "text": "caster"}, {"name": "caster", "ori_id": 11, "children": [{"name": "wheel", "ori_id": 20, "id": 23, "text": "wheel", "objs": ["original-56"]}], "objs": ["original-52", "original-55", "original-53", "original-51", "original-56"], "id": 22, "text": "caster"}, {"name": "caster", "ori_id": 12, "children": [{"name": "wheel", "ori_id": 18, "id": 25, "text": "wheel", "objs": ["original-47"]}], "objs": ["original-43", "original-42", "original-44", "original-47"], "id": 24, "text": "caster"}, {"name": "bar_stretcher", "ori_id": 13, "id": 26, "text": "bar_stretcher", "objs": ["original-77"]}, {"name": "bar_stretcher", "ori_id": 14, "id": 27, "text": "bar_stretcher", "objs": ["original-67"]}, {"name": "bar_stretcher", "ori_id": 15, "id": 28, "text": "bar_stretcher", "objs": ["original-65"]}, {"name": "bar_stretcher", "ori_id": 16, "id": 29, "text": "bar_stretcher", "objs": ["original-66"]}], "objs": ["original-30", "original-37", "original-35", "original-33", "original-71", "original-70", "original-72", "original-75", "original-61", "original-59", "original-60", "original-63", "original-64", "original-52", "original-55", "original-53", "original-51", "original-56", "original-43", "original-42", "original-44", "original-47", "original-77", "original-67", "original-65", "original-66"], "id": 13, "text": "regular_leg_base"}], "objs": ["original-30", "original-37", "original-35", "original-33", "original-71", "original-70", "original-72", "original-75", "original-61", "original-59", "original-60", "original-63", "original-64", "original-52", "original-55", "original-53", "original-51", "original-56", "original-43", "original-42", "original-44", "original-47", "original-77", "original-67", "original-65", "original-66"], "id": 12, "text": "table_base"}], "objs": ["original-29", "original-32", "original-31", "original-34", "original-36", "original-38", "original-39", "original-48", "original-5", "original-19", "original-20", "original-2", "original-21", "original-7", "original-18", "original-17", "original-16", "original-9", "original-12", "original-14", "original-10", "original-11", "original-23", "original-13", "original-26", "original-28", "original-24", "original-25", "original-27", "original-6", "original-4", "original-76", "original-3", "original-30", "original-37", "original-35", "original-33", "original-71", "original-70", "original-72", "original-75", "original-61", "original-59", "original-60", "original-63", "original-64", "original-52", "original-55", "original-53", "original-51", "original-56", "original-43", "original-42", "original-44", "original-47", "original-77", "original-67", "original-65", "original-66"], "id": 1, "text": "regular_table"}], "objs": ["original-29", "original-32", "original-31", "original-34", "original-36", "original-38", "original-39", "original-48", "original-5", "original-19", "original-20", "original-2", "original-21", "original-7", "original-18", "original-17", "original-16", "original-9", "original-12", "original-14", "original-10", "original-11", "original-23", "original-13", "original-26", "original-28", "original-24", "original-25", "original-27", "original-6", "original-4", "original-76", "original-3", "original-30", "original-37", "original-35", "original-33", "original-71", "original-70", "original-72", "original-75", "original-61", "original-59", "original-60", "original-63", "original-64", "original-52", "original-55", "original-53", "original-51", "original-56", "original-43", "original-42", "original-44", "original-47", "original-77", "original-67", "original-65", "original-66"], "id": 0, "text": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/25160/semantics.txt b/PartNetMobility/Table/25160/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..80019f09ed42d33f08855755b1f7bb5e7f5af0ba
--- /dev/null
+++ b/PartNetMobility/Table/25160/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 heavy furniture_body
diff --git a/PartNetMobility/Table/25160/tree_hier.html b/PartNetMobility/Table/25160/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..3e78c41f91d007d1fec26d29a378d284bb176e7e
--- /dev/null
+++ b/PartNetMobility/Table/25160/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
25 tabletop_surface Tabletop surface
26 other Table fence (other)
4 regular_leg_base Regular Leg Base
30 bar Bar
31 bar Bar
32 bar Bar
33 bar Bar
34 bar Bar
35 bar Bar
36 bar Bar
37 bar Bar
27 other_leaf other_leaf
5 leg Leg
6 leg Leg
7 leg Leg
8 leg Leg
9 caster Wheel Assembly
10 caster Wheel Assembly
11 caster Wheel Assembly
12 caster Wheel Assembly
13 bar_stretcher Bar Stretcher
14 bar_stretcher Bar Stretcher
15 bar_stretcher Bar Stretcher
16 bar_stretcher Bar Stretcher
23 caster_yoke Caster Yoke
24 wheel Wheel
21 caster_yoke Caster Yoke
22 wheel Wheel
19 caster_yoke Caster Yoke
20 wheel Wheel
17 caster_yoke Caster Yoke
18 wheel Wheel
\ No newline at end of file
diff --git a/PartNetMobility/Table/25160/tree_hier_after_merging.html b/PartNetMobility/Table/25160/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..2b8d461881b1b5a1f8eb2eda5fbe01c72b1d3c44
--- /dev/null
+++ b/PartNetMobility/Table/25160/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
12 table_base table_base
3 tabletop_surface tabletop_surface
13 regular_leg_base regular_leg_base
4 bar bar
5 bar bar
6 bar bar
7 bar bar
8 bar bar
9 bar bar
10 bar bar
11 bar bar
14 leg leg
15 leg leg
16 leg leg
17 leg leg
18 caster caster
20 caster caster
22 caster caster
24 caster caster
26 bar_stretcher bar_stretcher
27 bar_stretcher bar_stretcher
28 bar_stretcher bar_stretcher
29 bar_stretcher bar_stretcher
19 wheel wheel
21 wheel wheel
23 wheel wheel
25 wheel wheel
\ No newline at end of file
diff --git a/PartNetMobility/Table/25308/bounding_box.json b/PartNetMobility/Table/25308/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..623886a24b39bf1851dddad2f9ef5aa0dc3fa3e3
--- /dev/null
+++ b/PartNetMobility/Table/25308/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.912911, -0.61812, -0.25565], "max": [0.957782, 0.31367, 0.363172]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/25308/meta.json b/PartNetMobility/Table/25308/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff0d86978c8fd00ba464fb6cd54e0512146075ce
--- /dev/null
+++ b/PartNetMobility/Table/25308/meta.json
@@ -0,0 +1 @@
+{"model_id": "83a2a5dfe03a2be1b2b755acb296d925", "anno_id": "25308", "user_id": "shape04", "time_in_sec": "877", "version": "3", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/25308/mobility.urdf b/PartNetMobility/Table/25308/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dbb84723f70eb6b4a8665ad02a270fe34b0f16b9
--- /dev/null
+++ b/PartNetMobility/Table/25308/mobility.urdf
@@ -0,0 +1,1169 @@
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diff --git a/PartNetMobility/Table/25308/mobility_v2.json b/PartNetMobility/Table/25308/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..48848490993fa0fef04b60acff052618c8196a9d
--- /dev/null
+++ b/PartNetMobility/Table/25308/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"slider","name":"drawer","parts":[{"id":48,"name":"drawer_front","children":[]},{"id":49,"name":"drawer_side","children":[]},{"id":50,"name":"drawer_side","children":[]},{"id":51,"name":"drawer_back","children":[]},{"id":52,"name":"drawer_bottom","children":[]},{"id":47,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.524,"noLimit":false}}},{"id":1,"parent":2,"joint":"slider","name":"drawer","parts":[{"id":41,"name":"drawer_front","children":[]},{"id":42,"name":"drawer_side","children":[]},{"id":43,"name":"drawer_side","children":[]},{"id":44,"name":"drawer_back","children":[]},{"id":45,"name":"drawer_bottom","children":[]},{"id":40,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.43999999999999995,"noLimit":false}}},{"id":2,"parent":-1,"joint":"heavy","name":"other","parts":[{"id":56,"name":"other_leaf","children":[]},{"id":57,"name":"other_leaf","children":[]},{"id":58,"name":"other_leaf","children":[]},{"id":59,"name":"other_leaf","children":[]},{"id":60,"name":"other_leaf","children":[]},{"id":61,"name":"other_leaf","children":[]},{"id":62,"name":"other_leaf","children":[]},{"id":63,"name":"other_leaf","children":[]},{"id":64,"name":"other_leaf","children":[]},{"id":71,"name":"board","children":[]},{"id":70,"name":"board","children":[]},{"id":21,"name":"bar_stretcher","children":[]},{"id":22,"name":"bar_stretcher","children":[]},{"id":23,"name":"bar_stretcher","children":[]},{"id":24,"name":"bar_stretcher","children":[]},{"id":25,"name":"bar_stretcher","children":[]},{"id":26,"name":"bar_stretcher","children":[]},{"id":27,"name":"tabletop_connector","children":[]},{"id":28,"name":"tabletop_connector","children":[]},{"id":31,"name":"back_panel","children":[]},{"id":32,"name":"vertical_side_panel","children":[]},{"id":33,"name":"vertical_side_panel","children":[]},{"id":34,"name":"vertical_divider_panel","children":[]},{"id":35,"name":"leg","children":[]},{"id":36,"name":"leg","children":[]},{"id":37,"name":"leg","children":[]},{"id":38,"name":"leg","children":[]},{"id":53,"name":"bar_stretcher","children":[]},{"id":54,"name":"shelf","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/25308/result.json b/PartNetMobility/Table/25308/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4921f6c5bbbc8e6b49875ef3945db87a9d94a49
--- /dev/null
+++ b/PartNetMobility/Table/25308/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-1073"], "id": 71, "name": "board"}], "id": 68, "name": "tabletop_surface"}, {"text": "Tabletop frame", "children": [{"text": "Board", "objs": ["original-1074"], "id": 70, "name": "board"}], "id": 69, "name": "tabletop_frame"}], "id": 10, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Bar Stretcher", "objs": ["original-539"], "id": 21, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-1072"], "id": 22, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-806"], "id": 23, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-273"], "id": 24, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-2"], "id": 25, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-5"], "id": 26, "name": "bar_stretcher"}, {"text": "Tabletop Connector", "objs": ["original-1179"], "id": 27, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-1180"], "id": 28, "name": "tabletop_connector"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-1177"], "id": 48, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-1175"], "id": 49, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-1174"], "id": 50, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-1176"], "id": 51, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-1178"], "id": 52, "name": "drawer_bottom"}], "id": 46, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-1173"], "id": 47, "name": "handle"}], "id": 29, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-1125"], "id": 41, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-1122"], "id": 42, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-1123"], "id": 43, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-1124"], "id": 44, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-1126"], "id": 45, "name": "drawer_bottom"}], "id": 39, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-1121"], "id": 40, "name": "handle"}], "id": 30, "name": "drawer"}, {"text": "Back panel", "objs": ["original-7"], "id": 31, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["new-2"], "id": 32, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["new-5"], "id": 33, "name": "vertical_side_panel"}, {"text": "Vertical divider panel", "objs": ["original-540"], "id": 34, "name": "vertical_divider_panel"}, {"text": "Leg", "objs": ["new-0"], "id": 35, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 36, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 37, "name": "leg"}, {"text": "Leg", "objs": ["new-4"], "id": 38, "name": "leg"}, {"text": "Bar Stretcher", "objs": ["original-6"], "id": 53, "name": "bar_stretcher"}, {"text": "Shelf", "objs": ["original-4"], "id": 54, "name": "shelf"}, {"text": "Nut (other)", "children": [{"text": "other_leaf", "objs": ["original-491", "original-485", "original-494"], "id": 56, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-447", "original-429", "original-423", "original-419", "original-441", "original-450"], "id": 57, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-535", "original-538"], "id": 58, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-714", "original-717", "original-983", "original-980"], "id": 59, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-802", "original-1068", "original-789", "original-772", "original-1065", "original-1062", "original-1057", "original-1044", "original-1071", "original-1045", "original-1049", "original-1055", "original-783", "original-778", "original-793", "original-801", "original-799", "original-805"], "id": 60, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-1024", "original-758", "original-739", "original-750", "original-740", "original-735", "original-1016", "original-1027"], "id": 61, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-269", "original-272"], "id": 62, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-148", "original-151", "original-184", "original-181", "original-175", "original-168"], "id": 63, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-217", "original-189", "original-202", "original-205", "original-207", "original-203", "original-192", "original-208", "original-224", "original-195", "original-201", "original-219", "original-225", "original-228"], "id": 64, "name": "other_leaf"}], "id": 55, "name": "other"}], "id": 11, "name": "drawer_base"}], "id": 9, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/25308/result_after_merging.json b/PartNetMobility/Table/25308/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d1c9690d5927bd2c35ac6914f33c191623aea02
--- /dev/null
+++ b/PartNetMobility/Table/25308/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "table", "objs": ["original-1073", "original-1074", "original-539", "original-1072", "original-806", "original-273", "original-2", "original-5", "original-1179", "original-1180", "original-1177", "original-1175", "original-1174", "original-1176", "original-1178", "original-1173", "original-1125", "original-1122", "original-1123", "original-1124", "original-1126", "original-1121", "original-7", "new-2", "new-5", "original-540", "new-0", "new-1", "new-3", "new-4", "original-6", "original-4", "original-491", "original-485", "original-494", "original-447", "original-429", "original-423", "original-419", "original-441", "original-450", "original-535", "original-538", "original-714", "original-717", "original-983", "original-980", "original-802", "original-1068", "original-789", "original-772", "original-1065", "original-1062", "original-1057", "original-1044", "original-1071", "original-1045", "original-1049", "original-1055", "original-783", "original-778", "original-793", "original-801", "original-799", "original-805", "original-1024", "original-758", "original-739", "original-750", "original-740", "original-735", "original-1016", "original-1027", "original-269", "original-272", "original-148", "original-151", "original-184", "original-181", "original-175", "original-168", "original-217", "original-189", "original-202", "original-205", "original-207", "original-203", "original-192", "original-208", "original-224", "original-195", "original-201", "original-219", "original-225", "original-228"], "id": 0, "children": [{"text": "regular_table", "objs": ["original-1073", "original-1074", "original-539", "original-1072", "original-806", "original-273", "original-2", "original-5", "original-1179", "original-1180", "original-1177", "original-1175", "original-1174", "original-1176", "original-1178", "original-1173", "original-1125", "original-1122", "original-1123", "original-1124", "original-1126", "original-1121", "original-7", "new-2", "new-5", "original-540", "new-0", "new-1", "new-3", "new-4", "original-6", "original-4", "original-491", "original-485", "original-494", "original-447", "original-429", "original-423", "original-419", "original-441", "original-450", "original-535", "original-538", "original-714", "original-717", "original-983", "original-980", "original-802", "original-1068", "original-789", "original-772", "original-1065", "original-1062", "original-1057", "original-1044", "original-1071", "original-1045", "original-1049", "original-1055", "original-783", "original-778", "original-793", "original-801", "original-799", "original-805", "original-1024", "original-758", "original-739", "original-750", "original-740", "original-735", "original-1016", "original-1027", "original-269", "original-272", "original-148", "original-151", "original-184", "original-181", "original-175", "original-168", "original-217", "original-189", "original-202", "original-205", "original-207", "original-203", "original-192", "original-208", "original-224", "original-195", "original-201", "original-219", "original-225", "original-228"], "id": 1, "children": [{"text": "tabletop", "objs": ["original-1073", "original-1074"], "id": 2, "children": [{"text": "tabletop_surface", "objs": ["original-1073"], "id": 3, "children": [{"text": "board", "ori_id": 71, "objs": ["original-1073"], "id": 4, "name": "board"}], "ori_id": 68, "name": "tabletop_surface"}, {"text": "tabletop_frame", "ori_id": 69, "objs": ["original-1074"], "id": 5, "name": "tabletop_frame"}], "ori_id": 10, "name": "tabletop"}, {"text": "drawer_base", "objs": ["original-539", "original-1072", "original-806", "original-273", "original-2", "original-5", "original-1179", "original-1180", "original-1177", "original-1175", "original-1174", "original-1176", "original-1178", "original-1173", "original-1125", "original-1122", "original-1123", "original-1124", "original-1126", "original-1121", "original-7", "new-2", "new-5", "original-540", "new-0", "new-1", 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"original-195", "original-201", "original-219", "original-225", "original-228"], "id": 6, "children": [{"text": "bar_stretcher", "ori_id": 21, "objs": ["original-539"], "id": 7, "name": "bar_stretcher"}, {"text": "bar_stretcher", "ori_id": 22, "objs": ["original-1072"], "id": 8, "name": "bar_stretcher"}, {"text": "bar_stretcher", "ori_id": 23, "objs": ["original-806"], "id": 9, "name": "bar_stretcher"}, {"text": "bar_stretcher", "ori_id": 24, "objs": ["original-273"], "id": 10, "name": "bar_stretcher"}, {"text": "bar_stretcher", "ori_id": 25, "objs": ["original-2"], "id": 11, "name": "bar_stretcher"}, {"text": "bar_stretcher", "ori_id": 26, "objs": ["original-5"], "id": 12, "name": "bar_stretcher"}, {"text": "tabletop_connector", "ori_id": 27, "objs": ["original-1179"], "id": 13, "name": "tabletop_connector"}, {"text": "tabletop_connector", "ori_id": 28, "objs": ["original-1180"], "id": 14, "name": "tabletop_connector"}, {"text": "drawer", "objs": ["original-1177", "original-1175", "original-1174", "original-1176", "original-1178", "original-1173"], "id": 15, "children": [{"text": "drawer_box", "objs": ["original-1177", "original-1175", "original-1174", "original-1176", "original-1178"], "id": 16, "children": [{"text": "drawer_front", "ori_id": 48, "objs": ["original-1177"], "id": 17, "name": "drawer_front"}, {"text": "drawer_side", "ori_id": 49, "objs": ["original-1175"], "id": 18, "name": "drawer_side"}, {"text": "drawer_side", "ori_id": 50, "objs": ["original-1174"], "id": 19, "name": "drawer_side"}, {"text": "drawer_back", "ori_id": 51, "objs": ["original-1176"], "id": 20, "name": "drawer_back"}, {"text": "drawer_bottom", "ori_id": 52, "objs": ["original-1178"], "id": 21, "name": "drawer_bottom"}], "ori_id": 46, "name": "drawer_box"}, {"text": "handle", "ori_id": 47, "objs": ["original-1173"], "id": 22, "name": "handle"}], "ori_id": 29, "name": "drawer"}, {"text": "drawer", "objs": ["original-1125", "original-1122", "original-1123", "original-1124", "original-1126", "original-1121"], "id": 23, "children": [{"text": "drawer_box", "objs": ["original-1125", "original-1122", "original-1123", "original-1124", "original-1126"], "id": 24, "children": [{"text": "drawer_front", "ori_id": 41, "objs": ["original-1125"], "id": 25, "name": "drawer_front"}, {"text": "drawer_side", "ori_id": 42, "objs": ["original-1122"], "id": 26, "name": "drawer_side"}, {"text": "drawer_side", "ori_id": 43, "objs": ["original-1123"], "id": 27, "name": "drawer_side"}, {"text": "drawer_back", "ori_id": 44, "objs": ["original-1124"], "id": 28, "name": "drawer_back"}, {"text": "drawer_bottom", "ori_id": 45, "objs": ["original-1126"], "id": 29, "name": "drawer_bottom"}], "ori_id": 39, "name": "drawer_box"}, {"text": "handle", "ori_id": 40, "objs": ["original-1121"], "id": 30, "name": "handle"}], "ori_id": 30, "name": "drawer"}, {"text": "back_panel", "ori_id": 31, "objs": ["original-7"], "id": 31, "name": "back_panel"}, {"text": "vertical_side_panel", "ori_id": 32, "objs": ["new-2"], "id": 32, "name": "vertical_side_panel"}, {"text": "vertical_side_panel", "ori_id": 33, "objs": ["new-5"], "id": 33, "name": "vertical_side_panel"}, {"text": "vertical_divider_panel", "ori_id": 34, "objs": ["original-540"], "id": 34, "name": "vertical_divider_panel"}, {"text": "leg", "ori_id": 35, "objs": ["new-0"], "id": 35, "name": "leg"}, {"text": "leg", "ori_id": 36, "objs": ["new-1"], "id": 36, "name": "leg"}, {"text": "leg", "ori_id": 37, "objs": ["new-3"], "id": 37, "name": "leg"}, {"text": "leg", "ori_id": 38, "objs": ["new-4"], "id": 38, "name": "leg"}, {"text": "bar_stretcher", "ori_id": 53, "objs": ["original-6"], "id": 39, "name": "bar_stretcher"}, {"text": "shelf", "ori_id": 54, "objs": ["original-4"], "id": 40, "name": "shelf"}], "ori_id": 11, "name": "drawer_base"}], "ori_id": 9, "name": "regular_table"}], "ori_id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/25308/semantics.txt b/PartNetMobility/Table/25308/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d9ab475d8182a0ea8f8bb40bec8f63c07a539f15
--- /dev/null
+++ b/PartNetMobility/Table/25308/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 heavy furniture_body
diff --git a/PartNetMobility/Table/25308/tree_hier.html b/PartNetMobility/Table/25308/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..eca77e03d7b300812bced48dfa5344a2929cd320
--- /dev/null
+++ b/PartNetMobility/Table/25308/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
9 desk Desk
10 tabletop Tabletop
11 drawer_base Drawer Base
68 tabletop_surface Tabletop surface
69 tabletop_frame Tabletop frame
21 bar_stretcher Bar Stretcher
22 bar_stretcher Bar Stretcher
23 bar_stretcher Bar Stretcher
24 bar_stretcher Bar Stretcher
25 bar_stretcher Bar Stretcher
26 bar_stretcher Bar Stretcher
27 tabletop_connector Tabletop Connector
28 tabletop_connector Tabletop Connector
29 drawer Drawer
30 drawer Drawer
31 back_panel Back panel
32 vertical_side_panel Vertical side panel
33 vertical_side_panel Vertical side panel
34 vertical_divider_panel Vertical divider panel
35 leg Leg
36 leg Leg
37 leg Leg
38 leg Leg
53 bar_stretcher Bar Stretcher
54 shelf Shelf
55 other Nut (other)
71 board Board
70 board Board
46 drawer_box Drawer box
47 handle Handle
39 drawer_box Drawer box
40 handle Handle
56 other_leaf other_leaf
57 other_leaf other_leaf
58 other_leaf other_leaf
59 other_leaf other_leaf
60 other_leaf other_leaf
61 other_leaf other_leaf
62 other_leaf other_leaf
63 other_leaf other_leaf
64 other_leaf other_leaf
48 drawer_front Drawer front
49 drawer_side Drawer side
50 drawer_side Drawer side
51 drawer_back Drawer back
52 drawer_bottom Drawer bottom
41 drawer_front Drawer front
42 drawer_side Drawer side
43 drawer_side Drawer side
44 drawer_back Drawer back
45 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/25308/tree_hier_after_merging.html b/PartNetMobility/Table/25308/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..fcd6e2aa98f46ebbdf93273fef6e1e4a3e4fc7fa
--- /dev/null
+++ b/PartNetMobility/Table/25308/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
6 drawer_base drawer_base
3 tabletop_surface tabletop_surface
5 tabletop_frame tabletop_frame
7 bar_stretcher bar_stretcher
8 bar_stretcher bar_stretcher
9 bar_stretcher bar_stretcher
10 bar_stretcher bar_stretcher
11 bar_stretcher bar_stretcher
12 bar_stretcher bar_stretcher
13 tabletop_connector tabletop_connector
14 tabletop_connector tabletop_connector
15 drawer drawer
23 drawer drawer
31 back_panel back_panel
32 vertical_side_panel vertical_side_panel
33 vertical_side_panel vertical_side_panel
34 vertical_divider_panel vertical_divider_panel
35 leg leg
36 leg leg
37 leg leg
38 leg leg
39 bar_stretcher bar_stretcher
40 shelf shelf
4 board board
16 drawer_box drawer_box
22 handle handle
24 drawer_box drawer_box
30 handle handle
17 drawer_front drawer_front
18 drawer_side drawer_side
19 drawer_side drawer_side
20 drawer_back drawer_back
21 drawer_bottom drawer_bottom
25 drawer_front drawer_front
26 drawer_side drawer_side
27 drawer_side drawer_side
28 drawer_back drawer_back
29 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/25959/bounding_box.json b/PartNetMobility/Table/25959/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..15249f0b10d2c96a1bf78146745817eed540bb52
--- /dev/null
+++ b/PartNetMobility/Table/25959/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.898018, -0.456898, -0.307694], "max": [0.90808, 0.065703, 0.300473]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/25959/meta.json b/PartNetMobility/Table/25959/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9f82cfdc7cb09ef8c7e21f5b617c383cf2ba319
--- /dev/null
+++ b/PartNetMobility/Table/25959/meta.json
@@ -0,0 +1 @@
+{"model_id": "91a56c9037ba4a63a393ceda265543cf", "anno_id": "25959", "user_id": "shape18", "time_in_sec": "149", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/25959/mobility.urdf b/PartNetMobility/Table/25959/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da4deaf7c2a2e1ad6336e97e3ee6a8f30c2b1147
--- /dev/null
+++ b/PartNetMobility/Table/25959/mobility.urdf
@@ -0,0 +1,367 @@
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diff --git a/PartNetMobility/Table/25959/mobility_v2.json b/PartNetMobility/Table/25959/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f22eefbcd29187cd8add086e56d0b60fbbc1a60a
--- /dev/null
+++ b/PartNetMobility/Table/25959/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":24,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.8284345000000001,-0.4152285,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":23,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.8331936053891957,-0.4144876053891957,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":22,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.8381732572670807,-0.4152285,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":21,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.8376555,-0.4152285,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":-1,"joint":"free","name":"board","parts":[{"id":26,"name":"board","children":[]},{"id":5,"name":"leg","children":[]},{"id":6,"name":"leg","children":[]},{"id":7,"name":"leg","children":[]},{"id":8,"name":"leg","children":[]},{"id":13,"name":"bar_stretcher","children":[]},{"id":14,"name":"bar_stretcher","children":[]},{"id":15,"name":"bar_stretcher","children":[]},{"id":16,"name":"bar_stretcher","children":[]},{"id":17,"name":"tabletop_connector","children":[]},{"id":18,"name":"tabletop_connector","children":[]},{"id":19,"name":"tabletop_connector","children":[]},{"id":20,"name":"tabletop_connector","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/25959/result.json b/PartNetMobility/Table/25959/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..01baa63db7caefb338e70d86d3c190bb5a5b0512
--- /dev/null
+++ b/PartNetMobility/Table/25959/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["new-2"], "id": 26, "name": "board"}], "id": 25, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Regular Leg Base", "children": [{"text": "Leg", "objs": ["original-4"], "id": 5, "name": "leg"}, {"text": "Leg", "objs": ["original-45"], "id": 6, "name": "leg"}, {"text": "Leg", "objs": ["original-47"], "id": 7, "name": "leg"}, {"text": "Leg", "objs": ["original-46"], "id": 8, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-3", "original-2"], "id": 24, "name": "wheel"}], "id": 9, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-7", "original-6"], "id": 23, "name": "wheel"}], "id": 10, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-13", "original-14"], "id": 22, "name": "wheel"}], "id": 11, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-11", "original-10"], "id": 21, "name": "wheel"}], "id": 12, "name": "caster"}, {"text": "Bar Stretcher", "objs": ["original-49"], "id": 13, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-36"], "id": 14, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-71"], "id": 15, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-70"], "id": 16, "name": "bar_stretcher"}, {"text": "Tabletop Connector", "objs": ["new-0"], "id": 17, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["new-1"], "id": 18, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-16"], "id": 19, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-28", "original-30", "original-29", "original-26", "original-33", "original-32", "original-34"], "id": 20, "name": "tabletop_connector"}], "id": 4, "name": "regular_leg_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/25959/result_after_merging.json b/PartNetMobility/Table/25959/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..3807fa58092cde9292cfa69f969548d0c20ee047
--- /dev/null
+++ b/PartNetMobility/Table/25959/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["new-2", "original-4", "original-45", "original-47", "original-46", "original-3", "original-2", "original-7", "original-6", "original-13", "original-14", "original-11", "original-10", "original-49", "original-36", "original-71", "original-70", "new-0", "new-1", "original-16", "original-28", "original-30", "original-29", "original-26", "original-33", "original-32", "original-34"], "id": 0, "text": "table", "children": [{"objs": ["new-2", "original-4", "original-45", "original-47", "original-46", "original-3", "original-2", "original-7", "original-6", "original-13", "original-14", "original-11", "original-10", "original-49", "original-36", "original-71", "original-70", "new-0", "new-1", "original-16", "original-28", "original-30", "original-29", "original-26", "original-33", "original-32", "original-34"], "id": 1, "text": "regular_table", "children": [{"objs": ["new-2"], "id": 2, "text": "tabletop", "children": [{"objs": ["new-2"], "id": 3, "text": "tabletop_surface", "children": [{"text": "board", "objs": ["new-2"], "id": 4, "name": "board", "ori_id": 26}], "name": "tabletop_surface", "ori_id": 25}], "name": "tabletop", "ori_id": 2}, {"objs": ["original-4", "original-45", "original-47", "original-46", "original-3", "original-2", "original-7", "original-6", "original-13", "original-14", "original-11", "original-10", "original-49", "original-36", "original-71", "original-70", "new-0", "new-1", "original-16", "original-28", "original-30", "original-29", "original-26", "original-33", "original-32", "original-34"], "id": 5, "text": "table_base", "children": [{"objs": ["original-4", "original-45", "original-47", "original-46", "original-3", "original-2", "original-7", "original-6", "original-13", "original-14", "original-11", "original-10", "original-49", "original-36", "original-71", "original-70", "new-0", "new-1", "original-16", "original-28", "original-30", "original-29", "original-26", "original-33", "original-32", "original-34"], "id": 6, "text": "regular_leg_base", "children": [{"text": "leg", "objs": ["original-4"], "id": 7, "name": "leg", "ori_id": 5}, {"text": "leg", "objs": ["original-45"], "id": 8, "name": "leg", "ori_id": 6}, {"text": "leg", "objs": ["original-47"], "id": 9, "name": "leg", "ori_id": 7}, {"text": "leg", "objs": ["original-46"], "id": 10, "name": "leg", "ori_id": 8}, {"objs": ["original-3", "original-2"], "id": 11, "text": "caster", "children": [{"text": "wheel", "objs": ["original-3", "original-2"], "id": 12, "name": "wheel", "ori_id": 24}], "name": "caster", "ori_id": 9}, {"objs": ["original-7", "original-6"], "id": 13, "text": "caster", "children": [{"text": "wheel", "objs": ["original-7", "original-6"], "id": 14, "name": "wheel", "ori_id": 23}], "name": "caster", "ori_id": 10}, {"objs": ["original-13", "original-14"], "id": 15, "text": "caster", "children": [{"text": "wheel", "objs": ["original-13", "original-14"], "id": 16, "name": "wheel", "ori_id": 22}], "name": "caster", "ori_id": 11}, {"objs": ["original-11", "original-10"], "id": 17, "text": "caster", "children": [{"text": "wheel", "objs": ["original-11", "original-10"], "id": 18, "name": "wheel", "ori_id": 21}], "name": "caster", "ori_id": 12}, {"text": "bar_stretcher", "objs": ["original-49"], "id": 19, "name": "bar_stretcher", "ori_id": 13}, {"text": "bar_stretcher", "objs": ["original-36"], "id": 20, "name": "bar_stretcher", "ori_id": 14}, {"text": "bar_stretcher", "objs": ["original-71"], "id": 21, "name": "bar_stretcher", "ori_id": 15}, {"text": "bar_stretcher", "objs": ["original-70"], "id": 22, "name": "bar_stretcher", "ori_id": 16}, {"text": "tabletop_connector", "objs": ["new-0"], "id": 23, "name": "tabletop_connector", "ori_id": 17}, {"text": "tabletop_connector", "objs": ["new-1"], "id": 24, "name": "tabletop_connector", "ori_id": 18}, {"text": "tabletop_connector", "objs": ["original-16"], "id": 25, "name": "tabletop_connector", "ori_id": 19}, {"text": "tabletop_connector", "objs": ["original-28", "original-30", "original-29", "original-26", "original-33", "original-32", "original-34"], "id": 26, "name": "tabletop_connector", "ori_id": 20}], "name": "regular_leg_base", "ori_id": 4}], "name": "table_base", "ori_id": 3}], "name": "regular_table", "ori_id": 1}], "name": "table", "ori_id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/25959/semantics.txt b/PartNetMobility/Table/25959/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..868f9c6d8c1d2af4c22ff7f4de8313674c9e2234
--- /dev/null
+++ b/PartNetMobility/Table/25959/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 free furniture_body
diff --git a/PartNetMobility/Table/25959/tree_hier.html b/PartNetMobility/Table/25959/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..8a80a6e1e2bc337527a8036100c1afdf72faad73
--- /dev/null
+++ b/PartNetMobility/Table/25959/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
25 tabletop_surface Tabletop surface
4 regular_leg_base Regular Leg Base
26 board Board
5 leg Leg
6 leg Leg
7 leg Leg
8 leg Leg
9 caster Wheel Assembly
10 caster Wheel Assembly
11 caster Wheel Assembly
12 caster Wheel Assembly
13 bar_stretcher Bar Stretcher
14 bar_stretcher Bar Stretcher
15 bar_stretcher Bar Stretcher
16 bar_stretcher Bar Stretcher
17 tabletop_connector Tabletop Connector
18 tabletop_connector Tabletop Connector
19 tabletop_connector Tabletop Connector
20 tabletop_connector Tabletop Connector
24 wheel Wheel
23 wheel Wheel
22 wheel Wheel
21 wheel Wheel
\ No newline at end of file
diff --git a/PartNetMobility/Table/25959/tree_hier_after_merging.html b/PartNetMobility/Table/25959/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..612d8787e958dd24791522e015b466de822793ee
--- /dev/null
+++ b/PartNetMobility/Table/25959/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
6 regular_leg_base regular_leg_base
4 board board
7 leg leg
8 leg leg
9 leg leg
10 leg leg
11 caster caster
13 caster caster
15 caster caster
17 caster caster
19 bar_stretcher bar_stretcher
20 bar_stretcher bar_stretcher
21 bar_stretcher bar_stretcher
22 bar_stretcher bar_stretcher
23 tabletop_connector tabletop_connector
24 tabletop_connector tabletop_connector
25 tabletop_connector tabletop_connector
26 tabletop_connector tabletop_connector
12 wheel wheel
14 wheel wheel
16 wheel wheel
18 wheel wheel
\ No newline at end of file
diff --git a/PartNetMobility/Table/26525/bounding_box.json b/PartNetMobility/Table/26525/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..f19c023ae329e46d74c16d5a912883201adc7602
--- /dev/null
+++ b/PartNetMobility/Table/26525/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.524099, -0.894936, -0.45454], "max": [0.525227, 0.416721, 0.437387]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/26525/meta.json b/PartNetMobility/Table/26525/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08f76061e94e8b5357d8b5b22abb4b76f30e2883
--- /dev/null
+++ b/PartNetMobility/Table/26525/meta.json
@@ -0,0 +1 @@
+{"model_id": "9e42bbdbfe36680391e4d6c585a697a", "anno_id": "26525", "user_id": "shape18", "time_in_sec": "279", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/26525/mobility.urdf b/PartNetMobility/Table/26525/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ca4eabf6b6488df2ba3bb7c5ab47061f1794b9ff
--- /dev/null
+++ b/PartNetMobility/Table/26525/mobility.urdf
@@ -0,0 +1,500 @@
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diff --git a/PartNetMobility/Table/26525/mobility_v2.json b/PartNetMobility/Table/26525/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c62d74a67c5032bc7e31e1543a08a521343adacd
--- /dev/null
+++ b/PartNetMobility/Table/26525/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"drawer","parts":[{"id":33,"name":"drawer_front","children":[]},{"id":34,"name":"drawer_side","children":[]},{"id":35,"name":"drawer_side","children":[]},{"id":36,"name":"drawer_back","children":[]},{"id":37,"name":"drawer_bottom","children":[]},{"id":32,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.512,"noLimit":false}}},{"id":1,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":44,"name":"board","children":[]},{"id":13,"name":"shelf","children":[]},{"id":14,"name":"shelf","children":[]},{"id":15,"name":"shelf","children":[]},{"id":16,"name":"back_panel","children":[]},{"id":17,"name":"vertical_side_panel","children":[]},{"id":18,"name":"vertical_side_panel","children":[]},{"id":19,"name":"leg","children":[]},{"id":20,"name":"leg","children":[]},{"id":21,"name":"leg","children":[]},{"id":22,"name":"leg","children":[]},{"id":23,"name":"bar_stretcher","children":[]},{"id":24,"name":"bar_stretcher","children":[]},{"id":25,"name":"bar_stretcher","children":[]},{"id":26,"name":"bar_stretcher","children":[]},{"id":27,"name":"bar_stretcher","children":[]},{"id":28,"name":"bar_stretcher","children":[]},{"id":30,"name":"shelf","children":[]},{"id":38,"name":"bar_stretcher","children":[]},{"id":39,"name":"bar_stretcher","children":[]},{"id":40,"name":"bar_stretcher","children":[]},{"id":41,"name":"bar_stretcher","children":[]},{"id":42,"name":"bar_stretcher","children":[]},{"id":45,"name":"bar_stretcher","children":[]},{"id":46,"name":"bar_stretcher","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26525/result.json b/PartNetMobility/Table/26525/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c68c37d60e856a5d2e47dc7c574baf0baf2bf7b9
--- /dev/null
+++ b/PartNetMobility/Table/26525/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-22"], "id": 44, "name": "board"}], "id": 43, "name": "tabletop_surface"}], "id": 10, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Shelf", "objs": ["original-33"], "id": 13, "name": "shelf"}, {"text": "Shelf", "objs": ["original-35"], "id": 14, "name": "shelf"}, {"text": "Shelf", "objs": ["original-34"], "id": 15, "name": "shelf"}, {"text": "Back panel", "objs": ["original-20"], "id": 16, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-40", "original-18"], "id": 17, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-19", "original-41"], "id": 18, "name": "vertical_side_panel"}, {"text": "Leg", "objs": ["original-26", "original-27"], "id": 19, "name": "leg"}, {"text": "Leg", "objs": ["original-29", "original-28"], "id": 20, "name": "leg"}, {"text": "Leg", "objs": ["original-30", "original-31"], "id": 21, "name": "leg"}, {"text": "Leg", "objs": ["original-25", "original-24"], "id": 22, "name": "leg"}, {"text": "Bar Stretcher", "objs": ["original-21", "original-42"], "id": 23, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-23"], "id": 24, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-17"], "id": 25, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-37"], "id": 26, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-16"], "id": 27, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-36"], "id": 28, "name": "bar_stretcher"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-9"], "id": 33, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-7"], "id": 34, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-4"], "id": 35, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-5"], "id": 36, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-3"], "id": 37, "name": "drawer_bottom"}], "id": 31, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-2"], "id": 32, "name": "handle"}], "id": 29, "name": "drawer"}, {"text": "Shelf", "objs": ["original-32"], "id": 30, "name": "shelf"}, {"text": "Bar Stretcher", "objs": ["original-15", "original-8", "original-6"], "id": 38, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-14"], "id": 39, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-11"], "id": 40, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-13"], "id": 41, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-12"], "id": 42, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-39"], "id": 45, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-38"], "id": 46, "name": "bar_stretcher"}], "id": 11, "name": "drawer_base"}], "id": 9, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26525/result_after_merging.json b/PartNetMobility/Table/26525/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..965d49376b88f5e334cc200499963211d0765de4
--- /dev/null
+++ b/PartNetMobility/Table/26525/result_after_merging.json
@@ -0,0 +1 @@
+[{"id": 0, "children": [{"id": 1, "children": [{"id": 2, "children": [{"id": 3, "children": [{"text": "board", "id": 4, "ori_id": 44, "name": "board", "objs": ["original-22"]}], "text": "tabletop_surface", "objs": ["original-22"], "ori_id": 43, "name": "tabletop_surface"}], "text": "tabletop", "objs": ["original-22"], "ori_id": 10, "name": "tabletop"}, {"id": 5, "children": [{"text": "shelf", "id": 6, "ori_id": 13, "name": "shelf", "objs": ["original-33"]}, {"text": "shelf", "id": 7, "ori_id": 14, "name": "shelf", "objs": ["original-35"]}, {"text": "shelf", "id": 8, "ori_id": 15, "name": "shelf", "objs": ["original-34"]}, {"text": "back_panel", "id": 9, "ori_id": 16, "name": "back_panel", "objs": ["original-20"]}, {"text": "vertical_side_panel", "id": 10, "ori_id": 17, "name": "vertical_side_panel", "objs": ["original-40", "original-18"]}, {"text": "vertical_side_panel", "id": 11, "ori_id": 18, "name": "vertical_side_panel", "objs": ["original-19", "original-41"]}, {"text": "leg", "id": 12, "ori_id": 19, "name": "leg", "objs": ["original-26", "original-27"]}, {"text": "leg", "id": 13, "ori_id": 20, "name": "leg", "objs": ["original-29", "original-28"]}, {"text": "leg", "id": 14, "ori_id": 21, "name": "leg", "objs": ["original-30", "original-31"]}, {"text": "leg", "id": 15, "ori_id": 22, "name": "leg", "objs": ["original-25", "original-24"]}, {"text": "bar_stretcher", "id": 16, "ori_id": 23, "name": "bar_stretcher", "objs": ["original-21", "original-42"]}, {"text": "bar_stretcher", "id": 17, "ori_id": 24, "name": "bar_stretcher", "objs": ["original-23"]}, {"text": "bar_stretcher", "id": 18, "ori_id": 25, "name": "bar_stretcher", "objs": ["original-17"]}, {"text": "bar_stretcher", "id": 19, "ori_id": 26, "name": "bar_stretcher", "objs": ["original-37"]}, {"text": "bar_stretcher", "id": 20, "ori_id": 27, "name": "bar_stretcher", "objs": ["original-16"]}, {"text": "bar_stretcher", "id": 21, "ori_id": 28, "name": "bar_stretcher", "objs": ["original-36"]}, {"id": 22, "children": [{"id": 23, "children": [{"text": "drawer_front", "id": 24, "ori_id": 33, "name": "drawer_front", "objs": ["original-9"]}, {"text": "drawer_side", "id": 25, "ori_id": 34, "name": "drawer_side", "objs": ["original-7"]}, {"text": "drawer_side", "id": 26, "ori_id": 35, "name": "drawer_side", "objs": ["original-4"]}, {"text": "drawer_back", "id": 27, "ori_id": 36, "name": "drawer_back", "objs": ["original-5"]}, {"text": "drawer_bottom", "id": 28, "ori_id": 37, "name": "drawer_bottom", "objs": ["original-3"]}], "text": "drawer_box", "objs": ["original-9", "original-7", "original-4", "original-5", "original-3"], "ori_id": 31, "name": "drawer_box"}, {"text": "handle", "id": 29, "ori_id": 32, "name": "handle", "objs": ["original-2"]}], "text": "drawer", "objs": ["original-9", "original-7", "original-4", "original-5", "original-3", "original-2"], "ori_id": 29, "name": "drawer"}, {"text": "shelf", "id": 30, "ori_id": 30, "name": "shelf", "objs": ["original-32"]}, {"text": "bar_stretcher", "id": 31, "ori_id": 38, "name": "bar_stretcher", "objs": ["original-15", "original-8", "original-6"]}, {"text": "bar_stretcher", "id": 32, "ori_id": 39, "name": "bar_stretcher", "objs": ["original-14"]}, {"text": "bar_stretcher", "id": 33, "ori_id": 40, "name": "bar_stretcher", "objs": ["original-11"]}, {"text": "bar_stretcher", "id": 34, "ori_id": 41, "name": "bar_stretcher", "objs": ["original-13"]}, {"text": "bar_stretcher", "id": 35, "ori_id": 42, "name": "bar_stretcher", "objs": ["original-12"]}, {"text": "bar_stretcher", "id": 36, "ori_id": 45, "name": "bar_stretcher", "objs": ["original-39"]}, {"text": "bar_stretcher", "id": 37, "ori_id": 46, "name": "bar_stretcher", "objs": ["original-38"]}], "text": "drawer_base", "objs": ["original-33", "original-35", "original-34", "original-20", "original-40", "original-18", "original-19", "original-41", "original-26", "original-27", "original-29", "original-28", "original-30", "original-31", "original-25", "original-24", "original-21", "original-42", "original-23", "original-17", "original-37", "original-16", "original-36", "original-9", "original-7", "original-4", "original-5", "original-3", "original-2", "original-32", "original-15", "original-8", "original-6", "original-14", "original-11", "original-13", "original-12", "original-39", "original-38"], "ori_id": 11, "name": "drawer_base"}], "text": "regular_table", "objs": ["original-22", "original-33", "original-35", "original-34", "original-20", "original-40", "original-18", "original-19", "original-41", "original-26", "original-27", "original-29", "original-28", "original-30", "original-31", "original-25", "original-24", "original-21", "original-42", "original-23", "original-17", "original-37", "original-16", "original-36", "original-9", "original-7", "original-4", "original-5", "original-3", "original-2", "original-32", "original-15", "original-8", "original-6", "original-14", "original-11", "original-13", "original-12", "original-39", "original-38"], "ori_id": 9, "name": "regular_table"}], "text": "table", "objs": ["original-22", "original-33", "original-35", "original-34", "original-20", "original-40", "original-18", "original-19", "original-41", "original-26", "original-27", "original-29", "original-28", "original-30", "original-31", "original-25", "original-24", "original-21", "original-42", "original-23", "original-17", "original-37", "original-16", "original-36", "original-9", "original-7", "original-4", "original-5", "original-3", "original-2", "original-32", "original-15", "original-8", "original-6", "original-14", "original-11", "original-13", "original-12", "original-39", "original-38"], "ori_id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26525/semantics.txt b/PartNetMobility/Table/26525/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e633624fa79600e01561864dbeb1d30368693f9a
--- /dev/null
+++ b/PartNetMobility/Table/26525/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider drawer
+link_1 heavy furniture_body
diff --git a/PartNetMobility/Table/26525/tree_hier.html b/PartNetMobility/Table/26525/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..3c2cba10625120284527d32bff43680ebc4eb73e
--- /dev/null
+++ b/PartNetMobility/Table/26525/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
9 desk Desk
10 tabletop Tabletop
11 drawer_base Drawer Base
43 tabletop_surface Tabletop surface
13 shelf Shelf
14 shelf Shelf
15 shelf Shelf
16 back_panel Back panel
17 vertical_side_panel Vertical side panel
18 vertical_side_panel Vertical side panel
19 leg Leg
20 leg Leg
21 leg Leg
22 leg Leg
23 bar_stretcher Bar Stretcher
24 bar_stretcher Bar Stretcher
25 bar_stretcher Bar Stretcher
26 bar_stretcher Bar Stretcher
27 bar_stretcher Bar Stretcher
28 bar_stretcher Bar Stretcher
29 drawer Drawer
30 shelf Shelf
38 bar_stretcher Bar Stretcher
39 bar_stretcher Bar Stretcher
40 bar_stretcher Bar Stretcher
41 bar_stretcher Bar Stretcher
42 bar_stretcher Bar Stretcher
45 bar_stretcher Bar Stretcher
46 bar_stretcher Bar Stretcher
44 board Board
31 drawer_box Drawer box
32 handle Handle
33 drawer_front Drawer front
34 drawer_side Drawer side
35 drawer_side Drawer side
36 drawer_back Drawer back
37 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/26525/tree_hier_after_merging.html b/PartNetMobility/Table/26525/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..b8359e2ea5259a6068e428c36850cb13abe0fd87
--- /dev/null
+++ b/PartNetMobility/Table/26525/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 drawer_base drawer_base
3 tabletop_surface tabletop_surface
6 shelf shelf
7 shelf shelf
8 shelf shelf
9 back_panel back_panel
10 vertical_side_panel vertical_side_panel
11 vertical_side_panel vertical_side_panel
12 leg leg
13 leg leg
14 leg leg
15 leg leg
16 bar_stretcher bar_stretcher
17 bar_stretcher bar_stretcher
18 bar_stretcher bar_stretcher
19 bar_stretcher bar_stretcher
20 bar_stretcher bar_stretcher
21 bar_stretcher bar_stretcher
22 drawer drawer
30 shelf shelf
31 bar_stretcher bar_stretcher
32 bar_stretcher bar_stretcher
33 bar_stretcher bar_stretcher
34 bar_stretcher bar_stretcher
35 bar_stretcher bar_stretcher
36 bar_stretcher bar_stretcher
37 bar_stretcher bar_stretcher
4 board board
23 drawer_box drawer_box
29 handle handle
24 drawer_front drawer_front
25 drawer_side drawer_side
26 drawer_side drawer_side
27 drawer_back drawer_back
28 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/26545/bounding_box.json b/PartNetMobility/Table/26545/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1a0786ef35a27b297f756133033c3b2e4fe658a
--- /dev/null
+++ b/PartNetMobility/Table/26545/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.645541, -0.818626, -0.355556], "max": [0.646319, 0.347518, 0.34034]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/26545/meta.json b/PartNetMobility/Table/26545/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..103627595b3476b7fbf582aaf8e668892bbff821
--- /dev/null
+++ b/PartNetMobility/Table/26545/meta.json
@@ -0,0 +1 @@
+{"model_id": "98ec86d721b235374d18c1ce5fca6777", "anno_id": "26545", "user_id": "shape16", "time_in_sec": "224", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/26545/mobility.urdf b/PartNetMobility/Table/26545/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cda213ccab59e25cf87cbefc6b5247ea24065f57
--- /dev/null
+++ b/PartNetMobility/Table/26545/mobility.urdf
@@ -0,0 +1,535 @@
+
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diff --git a/PartNetMobility/Table/26545/mobility_v2.json b/PartNetMobility/Table/26545/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..00871b025d7a73f9d89892e00dd48954fed83bb3
--- /dev/null
+++ b/PartNetMobility/Table/26545/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":28,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.5832267840337232,-0.7524353974020611,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":26,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.5213555,-0.748559,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":24,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.5172684616225484,-0.7563114923267776,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":22,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.5832267840337232,-0.7524353974020611,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":35,"name":"board","children":[]},{"id":6,"name":"shelf","children":[]},{"id":7,"name":"leg","children":[]},{"id":8,"name":"leg","children":[]},{"id":9,"name":"leg","children":[]},{"id":10,"name":"leg","children":[]},{"id":15,"name":"bar_stretcher","children":[]},{"id":16,"name":"bar_stretcher","children":[]},{"id":17,"name":"bar_stretcher","children":[]},{"id":18,"name":"bar_stretcher","children":[]},{"id":19,"name":"tabletop_connector","children":[]},{"id":20,"name":"tabletop_connector","children":[]},{"id":31,"name":"bar","children":[]},{"id":32,"name":"bar","children":[]},{"id":33,"name":"bar","children":[]},{"id":34,"name":"bar","children":[]},{"id":27,"name":"caster_stem","children":[]},{"id":25,"name":"caster_stem","children":[]},{"id":23,"name":"caster_stem","children":[]},{"id":21,"name":"caster_stem","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26545/result.json b/PartNetMobility/Table/26545/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f155fe66ba5282204330ca6d8e9925b281ce056
--- /dev/null
+++ b/PartNetMobility/Table/26545/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-55", "original-54"], "id": 35, "name": "board"}], "id": 29, "name": "tabletop_surface"}, {"text": "Tabletop frame", "children": [{"text": "Bar", "objs": ["original-8"], "id": 31, "name": "bar"}, {"text": "Bar", "objs": ["original-6"], "id": 32, "name": "bar"}, {"text": "Bar", "objs": ["original-7"], "id": 33, "name": "bar"}, {"text": "Bar", "objs": ["original-5"], "id": 34, "name": "bar"}], "id": 30, "name": "tabletop_frame"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Shelving Base", "children": [{"text": "Shelf", "objs": ["original-14", "original-13", "original-15"], "id": 6, "name": "shelf"}, {"text": "Leg", "objs": ["original-1"], "id": 7, "name": "leg"}, {"text": "Leg", "objs": ["original-4"], "id": 8, "name": "leg"}, {"text": "Leg", "objs": ["original-3"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["original-2"], "id": 10, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-23", "original-20", "original-24"], "id": 27, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-19", "original-18"], "id": 28, "name": "wheel"}], "id": 11, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-50", "original-47", "original-51"], "id": 25, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-46", "original-45"], "id": 26, "name": "wheel"}], "id": 12, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-41", "original-42", "original-38", "original-40"], "id": 23, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-36", "original-37"], "id": 24, "name": "wheel"}], "id": 13, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-32", "original-29", "original-33", "original-31"], "id": 21, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-27", "original-28"], "id": 22, "name": "wheel"}], "id": 14, "name": "caster"}, {"text": "Bar Stretcher", "objs": ["original-52"], "id": 15, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-10"], "id": 16, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-53"], "id": 17, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-9"], "id": 18, "name": "bar_stretcher"}, {"text": "Tabletop Connector", "objs": ["original-11"], "id": 19, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-12"], "id": 20, "name": "tabletop_connector"}], "id": 5, "name": "shelving_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26545/result_after_merging.json b/PartNetMobility/Table/26545/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c21c33a10f358445740ec5321f9cdf99a953d75
--- /dev/null
+++ b/PartNetMobility/Table/26545/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "table", "text": "table", "objs": ["original-55", "original-54", "original-8", "original-6", "original-7", "original-5", "original-14", "original-13", "original-15", "original-1", "original-4", "original-3", "original-2", "original-23", "original-20", "original-24", "original-19", "original-18", "original-50", "original-47", "original-51", "original-46", "original-45", "original-41", "original-42", "original-38", "original-40", "original-36", "original-37", "original-32", "original-29", "original-33", "original-31", "original-27", "original-28", "original-52", "original-10", "original-53", "original-9", "original-11", "original-12"], "ori_id": 0, "id": 0, "children": [{"name": "regular_table", "text": "regular_table", "objs": ["original-55", "original-54", "original-8", "original-6", "original-7", "original-5", "original-14", "original-13", "original-15", "original-1", "original-4", "original-3", "original-2", "original-23", "original-20", "original-24", "original-19", 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"bar", "text": "bar", "ori_id": 31}, {"id": 7, "objs": ["original-6"], "name": "bar", "text": "bar", "ori_id": 32}, {"id": 8, "objs": ["original-7"], "name": "bar", "text": "bar", "ori_id": 33}, {"id": 9, "objs": ["original-5"], "name": "bar", "text": "bar", "ori_id": 34}]}]}, {"name": "table_base", "text": "table_base", "objs": ["original-14", "original-13", "original-15", "original-1", "original-4", "original-3", "original-2", "original-23", "original-20", "original-24", "original-19", "original-18", "original-50", "original-47", "original-51", "original-46", "original-45", "original-41", "original-42", "original-38", "original-40", "original-36", "original-37", "original-32", "original-29", "original-33", "original-31", "original-27", "original-28", "original-52", "original-10", "original-53", "original-9", "original-11", "original-12"], "ori_id": 3, "id": 10, "children": [{"name": "drawer_base", "text": "drawer_base", "objs": ["original-14", "original-13", "original-15", 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\ No newline at end of file
diff --git a/PartNetMobility/Table/26545/semantics.txt b/PartNetMobility/Table/26545/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..80019f09ed42d33f08855755b1f7bb5e7f5af0ba
--- /dev/null
+++ b/PartNetMobility/Table/26545/semantics.txt
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+link_0 hinge wheel
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 heavy furniture_body
diff --git a/PartNetMobility/Table/26545/tree_hier.html b/PartNetMobility/Table/26545/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..db4f38813ba95698124997f8b79c1d0699e413d7
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+++ b/PartNetMobility/Table/26545/tree_hier.html
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26 wheel Wheel
23 caster_stem Caster Stem
24 wheel Wheel
21 caster_stem Caster Stem
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\ No newline at end of file
diff --git a/PartNetMobility/Table/26545/tree_hier_after_merging.html b/PartNetMobility/Table/26545/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..17e6ebab5e8342c9455287fcb02bf5173d7026d5
--- /dev/null
+++ b/PartNetMobility/Table/26545/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
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10 table_base table_base
3 tabletop_surface tabletop_surface
5 tabletop_frame tabletop_frame
11 drawer_base drawer_base
4 board board
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7 bar bar
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20 caster caster
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26 caster caster
29 bar_stretcher bar_stretcher
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31 bar_stretcher bar_stretcher
32 bar_stretcher bar_stretcher
33 tabletop_connector tabletop_connector
34 tabletop_connector tabletop_connector
18 caster_stem caster_stem
19 wheel wheel
21 caster_stem caster_stem
22 wheel wheel
24 caster_stem caster_stem
25 wheel wheel
27 caster_stem caster_stem
28 wheel wheel
\ No newline at end of file
diff --git a/PartNetMobility/Table/26608/bounding_box.json b/PartNetMobility/Table/26608/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..98dc6025bf2b89e3c3279d450b6c641898f2b83a
--- /dev/null
+++ b/PartNetMobility/Table/26608/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.877232, -0.483014, -0.347607], "max": [0.958812, 0.06253, 0.386232]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/26608/meta.json b/PartNetMobility/Table/26608/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..789e9041019b517114e63fa139412817cb71ea9d
--- /dev/null
+++ b/PartNetMobility/Table/26608/meta.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/26608/mobility.urdf b/PartNetMobility/Table/26608/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b02610339f02e8861c40d19e85b4ee5ad9319b73
--- /dev/null
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diff --git a/PartNetMobility/Table/26608/mobility_v2.json b/PartNetMobility/Table/26608/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4469654e9d0a70404aad16ee627a0fe2601b0a4e
--- /dev/null
+++ b/PartNetMobility/Table/26608/mobility_v2.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/26608/result.json b/PartNetMobility/Table/26608/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1fb65b98e07ae53e1efcecbb12ef89e1119861a
--- /dev/null
+++ b/PartNetMobility/Table/26608/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-1"], "id": 84, "name": "board"}], "id": 83, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-28"], "id": 70, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-17"], "id": 71, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-32"], "id": 72, "name": "drawer_side"}, {"text": "Drawer bottom", "objs": ["original-23"], "id": 73, "name": "drawer_bottom"}], "id": 69, "name": "drawer_box"}], "id": 11, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-27"], "id": 65, "name": "drawer_front"}, {"text": 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"drawer_side"}, {"text": "Drawer side", "objs": ["original-66"], "id": 57, "name": "drawer_side"}, {"text": "Drawer bottom", "objs": ["original-51"], "id": 58, "name": "drawer_bottom"}], "id": 54, "name": "drawer_box"}], "id": 14, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-53"], "id": 50, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-110"], "id": 51, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-106"], "id": 52, "name": "drawer_side"}, {"text": "Drawer bottom", "objs": ["original-59"], "id": 53, "name": "drawer_bottom"}], "id": 49, "name": "drawer_box"}], "id": 15, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-76"], "id": 45, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-108"], "id": 46, "name": "drawer_side"}, {"text": "Drawer side", "objs": 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"drawer_side"}, {"text": "Drawer back", "objs": ["original-96"], "id": 34, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-97"], "id": 35, "name": "drawer_bottom"}], "id": 30, "name": "drawer_box"}, {"text": "Drawer rails", "objs": ["original-98", "original-118"], "id": 78, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-103", "original-102"], "id": 79, "name": "drawer_rails"}], "id": 18, "name": "drawer"}, {"text": "Vertical side panel", "objs": ["original-45"], "id": 19, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-42"], "id": 20, "name": "vertical_side_panel"}, {"text": "Leg", "objs": ["original-5"], "id": 21, "name": "leg"}, {"text": "Leg", "objs": ["original-4"], "id": 22, "name": "leg"}, {"text": "Leg", "objs": ["original-2"], "id": 23, "name": "leg"}, {"text": "Leg", "objs": ["original-3"], "id": 24, "name": "leg"}, {"text": "Tabletop Connector", "objs": ["original-25", "original-99"], "id": 25, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-84", "original-115"], "id": 74, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-68", "original-112"], "id": 75, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-60", "original-104"], "id": 76, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-109", "original-65"], "id": 77, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-82", "original-119"], "id": 80, "name": "tabletop_connector"}, {"text": "Vertical side panel", "objs": ["original-43"], "id": 81, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-44"], "id": 82, "name": "vertical_side_panel"}, {"text": "Drawer interior (other)", "children": [{"text": "other_leaf", "objs": ["original-57", "original-107", "original-55", "original-111", "original-56", "original-58", "original-67", "original-50", 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\ No newline at end of file
diff --git a/PartNetMobility/Table/26608/result_after_merging.json b/PartNetMobility/Table/26608/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0991d9c25566e8b18bb892aedda2d6e9b1f8888
--- /dev/null
+++ b/PartNetMobility/Table/26608/result_after_merging.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/26608/semantics.txt b/PartNetMobility/Table/26608/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60f9c17e5a1d3a7058eb02b3958fdf58bcfb934b
--- /dev/null
+++ b/PartNetMobility/Table/26608/semantics.txt
@@ -0,0 +1,9 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 slider drawer
+link_3 slider drawer
+link_4 slider drawer
+link_5 slider drawer
+link_6 slider drawer
+link_7 slider drawer
+link_8 heavy furniture_body
diff --git a/PartNetMobility/Table/26608/tree_hier.html b/PartNetMobility/Table/26608/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..3161c1ec6185361209d9265a5d283ab5626d2176
--- /dev/null
+++ b/PartNetMobility/Table/26608/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
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18 drawer Drawer
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25 tabletop_connector Tabletop Connector
74 tabletop_connector Tabletop Connector
75 tabletop_connector Tabletop Connector
76 tabletop_connector Tabletop Connector
77 tabletop_connector Tabletop Connector
80 tabletop_connector Tabletop Connector
81 vertical_side_panel Vertical side panel
82 vertical_side_panel Vertical side panel
85 other Drawer interior (other)
69 drawer_box Drawer box
64 drawer_box Drawer box
59 drawer_box Drawer box
54 drawer_box Drawer box
49 drawer_box Drawer box
41 drawer_box Drawer box
36 drawer_box Drawer box
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78 drawer_rails Drawer rails
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86 other_leaf other_leaf
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34 drawer_back Drawer back
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\ No newline at end of file
diff --git a/PartNetMobility/Table/26608/tree_hier_after_merging.html b/PartNetMobility/Table/26608/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..996c089b2829d5c1061e963c5f21fe305c778b86
--- /dev/null
+++ b/PartNetMobility/Table/26608/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
6 drawer_base drawer_base
4 board board
7 drawer drawer
13 drawer drawer
19 drawer drawer
25 drawer drawer
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37 drawer drawer
43 drawer drawer
49 drawer drawer
56 vertical_side_panel vertical_side_panel
57 vertical_side_panel vertical_side_panel
58 leg leg
59 leg leg
60 leg leg
61 leg leg
62 tabletop_connector tabletop_connector
63 tabletop_connector tabletop_connector
64 tabletop_connector tabletop_connector
65 tabletop_connector tabletop_connector
66 tabletop_connector tabletop_connector
67 tabletop_connector tabletop_connector
68 vertical_side_panel vertical_side_panel
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8 drawer_box drawer_box
14 drawer_box drawer_box
20 drawer_box drawer_box
26 drawer_box drawer_box
32 drawer_box drawer_box
38 drawer_box drawer_box
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50 drawer_box drawer_box
9 drawer_front drawer_front
10 drawer_side drawer_side
11 drawer_side drawer_side
12 drawer_bottom drawer_bottom
15 drawer_front drawer_front
16 drawer_side drawer_side
17 drawer_side drawer_side
18 drawer_bottom drawer_bottom
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27 drawer_front drawer_front
28 drawer_side drawer_side
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30 drawer_bottom drawer_bottom
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35 drawer_side drawer_side
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39 drawer_front drawer_front
40 drawer_side drawer_side
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46 drawer_side drawer_side
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51 drawer_front drawer_front
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54 drawer_back drawer_back
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\ No newline at end of file
diff --git a/PartNetMobility/Table/26652/bounding_box.json b/PartNetMobility/Table/26652/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..e58a579093af88442fdc8ab67edcf6eea3150c83
--- /dev/null
+++ b/PartNetMobility/Table/26652/bounding_box.json
@@ -0,0 +1 @@
+{"min": [0.176211, -0.918184, -0.426998], "max": [0.888306, 0.247062, 0.285097]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/26652/meta.json b/PartNetMobility/Table/26652/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7d4390adf9bce7e05de1c2ef35e91b4faec64a5
--- /dev/null
+++ b/PartNetMobility/Table/26652/meta.json
@@ -0,0 +1 @@
+{"model_id": "70d0937e1d38a9c2a45b742ddc5add59", "anno_id": "26652", "user_id": "shape17", "time_in_sec": "238", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/26652/mobility.urdf b/PartNetMobility/Table/26652/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a38e20d8975c1935dd85f50617dc31befa09931
--- /dev/null
+++ b/PartNetMobility/Table/26652/mobility.urdf
@@ -0,0 +1,224 @@
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diff --git a/PartNetMobility/Table/26652/mobility_v2.json b/PartNetMobility/Table/26652/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9479d41d99c332dc320dc913964eb5901f3d48e
--- /dev/null
+++ b/PartNetMobility/Table/26652/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":19,"name":"board","children":[]},{"id":21,"name":"back_panel","children":[]},{"id":22,"name":"vertical_side_panel","children":[]},{"id":23,"name":"vertical_side_panel","children":[]},{"id":24,"name":"leg","children":[]},{"id":25,"name":"leg","children":[]},{"id":26,"name":"leg","children":[]},{"id":27,"name":"leg","children":[]},{"id":40,"name":"vertical_front_panel","children":[]},{"id":32,"name":"drawer_rails","children":[]},{"id":33,"name":"drawer_rails","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"slider","name":"handle","parts":[{"id":31,"name":"handle","children":[]},{"id":35,"name":"drawer_front","children":[]},{"id":36,"name":"drawer_side","children":[]},{"id":37,"name":"drawer_side","children":[]},{"id":38,"name":"drawer_back","children":[]},{"id":39,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.504,"noLimit":false}}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26652/result.json b/PartNetMobility/Table/26652/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..648c917ca03ec811a976d1ee7cb783b8545ee137
--- /dev/null
+++ b/PartNetMobility/Table/26652/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-21"], "id": 19, "name": "board"}], "id": 18, "name": "tabletop_surface"}], "id": 15, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-22"], "id": 35, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-24"], "id": 36, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-23"], "id": 37, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-25"], "id": 38, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-26"], "id": 39, "name": "drawer_bottom"}], "id": 30, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-27"], "id": 31, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-11"], "id": 32, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-8"], "id": 33, "name": "drawer_rails"}], "id": 20, "name": "drawer"}, {"text": "Back panel", "objs": ["original-6"], "id": 21, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-18"], "id": 22, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-14"], "id": 23, "name": "vertical_side_panel"}, {"text": "Leg", "objs": ["original-3"], "id": 24, "name": "leg"}, {"text": "Leg", "objs": ["original-4"], "id": 25, "name": "leg"}, {"text": "Leg", "objs": ["original-2"], "id": 26, "name": "leg"}, {"text": "Leg", "objs": ["original-5"], "id": 27, "name": "leg"}, {"text": "Vertical Front Panel", "objs": ["original-1"], "id": 40, "name": "vertical_front_panel"}], "id": 17, "name": "drawer_base"}], "id": 16, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26652/result_after_merging.json b/PartNetMobility/Table/26652/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f5879fc8ff4f86afd9c6d5d315643040a57d26c
--- /dev/null
+++ b/PartNetMobility/Table/26652/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "table", "objs": ["original-21", "original-22", "original-24", "original-23", "original-25", "original-26", "original-27", "original-11", "original-8", "original-6", "original-18", "original-14", "original-3", "original-4", "original-2", "original-5", "original-1"], "id": 0, "children": [{"name": "regular_table", "objs": ["original-21", "original-22", "original-24", "original-23", "original-25", "original-26", "original-27", "original-11", "original-8", "original-6", "original-18", "original-14", "original-3", "original-4", "original-2", "original-5", "original-1"], "id": 1, "children": [{"name": "tabletop", "objs": ["original-21"], "id": 2, "children": [{"name": "tabletop_surface", "objs": ["original-21"], "id": 3, "children": [{"name": "board", "objs": ["original-21"], "id": 4, "text": "board", "ori_id": 19}], "text": "tabletop_surface", "ori_id": 18}], "text": "tabletop", "ori_id": 15}, {"name": "table_base", "objs": ["original-22", "original-24", "original-23", "original-25", "original-26", "original-27", "original-11", "original-8", "original-6", "original-18", "original-14", "original-3", "original-4", "original-2", "original-5", "original-1"], "id": 5, "children": [{"name": "drawer_base", "objs": ["original-22", "original-24", "original-23", "original-25", "original-26", "original-27", "original-11", "original-8", "original-6", "original-18", "original-14", "original-3", "original-4", "original-2", "original-5", "original-1"], "id": 6, "children": [{"name": "drawer", "objs": ["original-22", "original-24", "original-23", "original-25", "original-26", "original-27", "original-11", "original-8"], "id": 7, "children": [{"name": "drawer_box", "objs": ["original-22", "original-24", "original-23", "original-25", "original-26"], "id": 8, "children": [{"name": "drawer_front", "objs": ["original-22"], "id": 9, "text": "drawer_front", "ori_id": 35}, {"name": "drawer_side", "objs": ["original-24"], "id": 10, "text": "drawer_side", "ori_id": 36}, {"name": "drawer_side", "objs": ["original-23"], "id": 11, "text": "drawer_side", "ori_id": 37}, {"name": "drawer_back", "objs": ["original-25"], "id": 12, "text": "drawer_back", "ori_id": 38}, {"name": "drawer_bottom", "objs": ["original-26"], "id": 13, "text": "drawer_bottom", "ori_id": 39}], "text": "drawer_box", "ori_id": 30}, {"name": "handle", "objs": ["original-27"], "id": 14, "text": "handle", "ori_id": 31}], "text": "drawer", "ori_id": 20}, {"name": "back_panel", "objs": ["original-6"], "id": 15, "text": "back_panel", "ori_id": 21}, {"name": "vertical_side_panel", "objs": ["original-18"], "id": 16, "text": "vertical_side_panel", "ori_id": 22}, {"name": "vertical_side_panel", "objs": ["original-14"], "id": 17, "text": "vertical_side_panel", "ori_id": 23}, {"name": "leg", "objs": ["original-3"], "id": 18, "text": "leg", "ori_id": 24}, {"name": "leg", "objs": ["original-4"], "id": 19, "text": "leg", "ori_id": 25}, {"name": "leg", "objs": ["original-2"], "id": 20, "text": "leg", "ori_id": 26}, {"name": "leg", "objs": ["original-5"], "id": 21, "text": "leg", "ori_id": 27}, {"name": "vertical_front_panel", "objs": ["original-1"], "id": 22, "text": "vertical_front_panel", "ori_id": 40}], "text": "drawer_base", "ori_id": 17}], "text": "table_base", "ori_id": 16}], "text": "regular_table", "ori_id": 1}], "text": "table", "ori_id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26652/semantics.txt b/PartNetMobility/Table/26652/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..016fd9cd3e120f8974147b7b8fc554034282c453
--- /dev/null
+++ b/PartNetMobility/Table/26652/semantics.txt
@@ -0,0 +1,2 @@
+link_0 heavy furniture_body
+link_1 slider drawer
diff --git a/PartNetMobility/Table/26652/tree_hier.html b/PartNetMobility/Table/26652/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..aef228f59c11f5c9638197a90af24d6e7c5ad21f
--- /dev/null
+++ b/PartNetMobility/Table/26652/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
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15 tabletop Tabletop
16 table_base Table Base
18 tabletop_surface Tabletop surface
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19 board Board
20 drawer Drawer
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22 vertical_side_panel Vertical side panel
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24 leg Leg
25 leg Leg
26 leg Leg
27 leg Leg
40 vertical_front_panel Vertical Front Panel
30 drawer_box Drawer box
31 handle Handle
32 drawer_rails Drawer rails
33 drawer_rails Drawer rails
35 drawer_front Drawer front
36 drawer_side Drawer side
37 drawer_side Drawer side
38 drawer_back Drawer back
39 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/26652/tree_hier_after_merging.html b/PartNetMobility/Table/26652/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..1c003f9a67d1ec7261f18f01633951623dd623d9
--- /dev/null
+++ b/PartNetMobility/Table/26652/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
6 drawer_base drawer_base
4 board board
7 drawer drawer
15 back_panel back_panel
16 vertical_side_panel vertical_side_panel
17 vertical_side_panel vertical_side_panel
18 leg leg
19 leg leg
20 leg leg
21 leg leg
22 vertical_front_panel vertical_front_panel
8 drawer_box drawer_box
14 handle handle
9 drawer_front drawer_front
10 drawer_side drawer_side
11 drawer_side drawer_side
12 drawer_back drawer_back
13 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/26692/bounding_box.json b/PartNetMobility/Table/26692/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..eac947883f36db75bddf4f17e482ad41fac5bb4a
--- /dev/null
+++ b/PartNetMobility/Table/26692/bounding_box.json
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+{"min": [-0.614223, -0.78918, -0.317649], "max": [0.622494, 0.549357, 0.337083]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/26692/meta.json b/PartNetMobility/Table/26692/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05760cdd9afba7608867c18d41a42190555191f0
--- /dev/null
+++ b/PartNetMobility/Table/26692/meta.json
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+{"model_id": "7269b683b73eb9a1aee34134dce9c534", "anno_id": "26692", "user_id": "chuangda003", "time_in_sec": "649", "version": "3", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/26692/mobility.urdf b/PartNetMobility/Table/26692/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..044a6d71ff3fbe2afc43b2eea0552494b1a15a08
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+++ b/PartNetMobility/Table/26692/mobility.urdf
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diff --git a/PartNetMobility/Table/26692/mobility_v2.json b/PartNetMobility/Table/26692/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f2de19dd0a1cbd461500744667cac1ceddf7d13
--- /dev/null
+++ b/PartNetMobility/Table/26692/mobility_v2.json
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+[{"id":0,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":26,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.526001342195365,-0.7567520003052025,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":24,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.5262273437113495,-0.7557916562886505,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":22,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.5558994946920198,-0.7557914946920199,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":20,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.5558994946920198,-0.7557914946920199,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":28,"name":"board","children":[]},{"id":9,"name":"shelf","children":[]},{"id":10,"name":"shelf","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]},{"id":14,"name":"leg","children":[]},{"id":25,"name":"caster_yoke","children":[]},{"id":23,"name":"caster_yoke","children":[]},{"id":21,"name":"caster_yoke","children":[]},{"id":19,"name":"caster_yoke","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26692/result.json b/PartNetMobility/Table/26692/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc868f94d2411de2a24192fffe26acc08e3913af
--- /dev/null
+++ b/PartNetMobility/Table/26692/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["new-6"], "id": 28, "name": "board"}], "id": 27, "name": "tabletop_surface"}], "id": 6, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Shelving Base", "children": [{"text": "Shelf", "objs": ["new-4", "original-14", "original-21", "original-28", "original-7"], "id": 9, "name": "shelf"}, {"text": "Shelf", "objs": ["new-5"], "id": 10, "name": "shelf"}, {"text": "Leg", "objs": ["new-3"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["new-2"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["new-0"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 14, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-17", "original-18", "original-19"], "id": 25, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-16"], "id": 26, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-26", "original-25", "original-24"], "id": 23, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-23"], "id": 24, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-11", "original-13", "original-12", "original-10"], "id": 21, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-9"], "id": 22, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-5", "original-3", "original-4"], "id": 19, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-2"], "id": 20, "name": "wheel"}], "id": 18, "name": "caster"}], "id": 8, "name": "shelving_base"}], "id": 7, "name": "table_base"}], "id": 5, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26692/result_after_merging.json b/PartNetMobility/Table/26692/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5b6fd0a3e66f9b196967f94b0fa4dfb5cc3c7e3
--- /dev/null
+++ b/PartNetMobility/Table/26692/result_after_merging.json
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+[{"text": "table", "children": [{"text": "regular_table", "children": [{"text": "tabletop", "children": [{"text": "tabletop_surface", "children": [{"text": "board", "ori_id": 28, "id": 4, "objs": ["new-6"], "name": "board"}], "id": 3, "objs": ["new-6"], "ori_id": 27, "name": "tabletop_surface"}], "id": 2, "objs": ["new-6"], "ori_id": 6, "name": "tabletop"}, {"text": "table_base", "children": [{"text": "drawer_base", "children": [{"text": "shelf", "ori_id": 9, "id": 7, "objs": ["new-4", "original-14", "original-21", "original-28", "original-7"], "name": "shelf"}, {"text": "shelf", "ori_id": 10, "id": 8, "objs": ["new-5"], "name": "shelf"}, {"text": "leg", "ori_id": 11, "id": 9, "objs": ["new-3"], "name": "leg"}, {"text": "leg", "ori_id": 12, "id": 10, "objs": ["new-2"], "name": "leg"}, {"text": "leg", "ori_id": 13, "id": 11, "objs": ["new-0"], "name": "leg"}, {"text": "leg", "ori_id": 14, "id": 12, "objs": ["new-1"], "name": "leg"}, {"text": "caster", "children": [{"text": "wheel", "ori_id": 26, "id": 14, "objs": ["original-16"], "name": "wheel"}], "id": 13, "objs": ["original-17", "original-18", "original-19", "original-16"], "ori_id": 15, "name": "caster"}, {"text": "caster", "children": [{"text": "wheel", "ori_id": 24, "id": 16, "objs": ["original-23"], "name": "wheel"}], "id": 15, "objs": ["original-26", "original-25", "original-24", "original-23"], "ori_id": 16, "name": "caster"}, {"text": "caster", "children": [{"text": "wheel", "ori_id": 22, "id": 18, "objs": ["original-9"], "name": "wheel"}], "id": 17, "objs": ["original-11", "original-13", "original-12", "original-10", "original-9"], "ori_id": 17, "name": "caster"}, {"text": "caster", "children": [{"text": "wheel", "ori_id": 20, "id": 20, "objs": ["original-2"], "name": "wheel"}], "id": 19, "objs": ["original-5", "original-3", "original-4", "original-2"], "ori_id": 18, "name": "caster"}], "id": 6, "objs": ["new-4", "original-14", "original-21", "original-28", "original-7", "new-5", "new-3", "new-2", "new-0", "new-1", "original-17", "original-18", "original-19", "original-16", "original-26", "original-25", "original-24", "original-23", "original-11", "original-13", "original-12", "original-10", "original-9", "original-5", "original-3", "original-4", "original-2"], "ori_id": 8, "name": "drawer_base"}], "id": 5, "objs": ["new-4", "original-14", "original-21", "original-28", "original-7", "new-5", "new-3", "new-2", "new-0", "new-1", "original-17", "original-18", "original-19", "original-16", "original-26", "original-25", "original-24", "original-23", "original-11", "original-13", "original-12", "original-10", "original-9", "original-5", "original-3", "original-4", "original-2"], "ori_id": 7, "name": "table_base"}], "id": 1, "objs": ["new-6", "new-4", "original-14", "original-21", "original-28", "original-7", "new-5", "new-3", "new-2", "new-0", "new-1", "original-17", "original-18", "original-19", "original-16", "original-26", "original-25", "original-24", "original-23", "original-11", "original-13", "original-12", "original-10", "original-9", "original-5", "original-3", "original-4", "original-2"], "ori_id": 5, "name": "regular_table"}], "id": 0, "objs": ["new-6", "new-4", "original-14", "original-21", "original-28", "original-7", "new-5", "new-3", "new-2", "new-0", "new-1", "original-17", "original-18", "original-19", "original-16", "original-26", "original-25", "original-24", "original-23", "original-11", "original-13", "original-12", "original-10", "original-9", "original-5", "original-3", "original-4", "original-2"], "ori_id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26692/semantics.txt b/PartNetMobility/Table/26692/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..80019f09ed42d33f08855755b1f7bb5e7f5af0ba
--- /dev/null
+++ b/PartNetMobility/Table/26692/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 heavy furniture_body
diff --git a/PartNetMobility/Table/26692/tree_hier_after_merging.html b/PartNetMobility/Table/26692/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..88b4322e0e0ccb2d7adec7f7f4761c6545b8fc93
--- /dev/null
+++ b/PartNetMobility/Table/26692/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
6 drawer_base drawer_base
4 board board
7 shelf shelf
8 shelf shelf
9 leg leg
10 leg leg
11 leg leg
12 leg leg
13 caster caster
15 caster caster
17 caster caster
19 caster caster
14 wheel wheel
16 wheel wheel
18 wheel wheel
20 wheel wheel
\ No newline at end of file
diff --git a/PartNetMobility/Table/26875/bounding_box.json b/PartNetMobility/Table/26875/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..57bddf6dd4cfb414442b00cce6723394281349d0
--- /dev/null
+++ b/PartNetMobility/Table/26875/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.775429, -0.551559, -0.46176], "max": [0.800473, 0.522862, 0.698668]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/26875/meta.json b/PartNetMobility/Table/26875/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af10b78a85d71059f16ffc8837e6d876cffe5302
--- /dev/null
+++ b/PartNetMobility/Table/26875/meta.json
@@ -0,0 +1 @@
+{"model_id": "98bc840471b4fd568e6da51641e48238", "anno_id": "26875", "user_id": "shape16", "time_in_sec": "329", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/26875/mobility.urdf b/PartNetMobility/Table/26875/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4901f5b709282ed4521c49b9d6243b7ac78c2643
--- /dev/null
+++ b/PartNetMobility/Table/26875/mobility.urdf
@@ -0,0 +1,425 @@
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diff --git a/PartNetMobility/Table/26875/mobility_v2.json b/PartNetMobility/Table/26875/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..089d5a40d70075286fb30ded3229184d93fb8efe
--- /dev/null
+++ b/PartNetMobility/Table/26875/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"hinge","name":"cabinet_door","parts":[{"id":23,"name":"cabinet_door_surface","children":[]},{"id":24,"name":"handle","children":[]},{"id":25,"name":"glass","children":[]}],"jointData":{"axis":{"origin":[-0.6859974905547332,-0.408064,0.23868986657073282],"direction":[0,1,0]},"limit":{"a":0,"b":-90,"noLimit":false}}},{"id":1,"parent":2,"joint":"hinge","name":"cabinet_door","parts":[{"id":20,"name":"cabinet_door_surface","children":[]},{"id":21,"name":"handle","children":[]},{"id":22,"name":"glass","children":[]}],"jointData":{"axis":{"origin":[0.7087116182003554,-0.37925599999999937,0.23642974824319862],"direction":[0,1,0]},"limit":{"a":-37.079999999999984,"b":52.199999999999996,"noLimit":false}}},{"id":2,"parent":-1,"joint":"heavy","name":"tabletop","parts":[{"id":27,"name":"board","children":[]},{"id":29,"name":"bar","children":[]},{"id":30,"name":"bar","children":[]},{"id":31,"name":"bar","children":[]},{"id":6,"name":"shelf","children":[]},{"id":7,"name":"shelf","children":[]},{"id":8,"name":"vertical_side_panel","children":[]},{"id":9,"name":"vertical_side_panel","children":[]},{"id":10,"name":"base_side_panel","children":[]},{"id":11,"name":"base_side_panel","children":[]},{"id":12,"name":"base_side_panel","children":[]},{"id":13,"name":"base_side_panel","children":[]},{"id":14,"name":"bottom_panel","children":[]},{"id":15,"name":"tabletop_connector","children":[]},{"id":16,"name":"tabletop_connector","children":[]},{"id":17,"name":"tabletop_connector","children":[]},{"id":32,"name":"bar_stretcher","children":[]},{"id":33,"name":"bar_stretcher","children":[]},{"id":34,"name":"bar_stretcher","children":[]},{"id":35,"name":"bar_stretcher","children":[]},{"id":36,"name":"bar_stretcher","children":[]},{"id":37,"name":"bar_stretcher","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26875/result.json b/PartNetMobility/Table/26875/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0a4b5c6c1b8b695c209c0672bc219f1fca8f6a1
--- /dev/null
+++ b/PartNetMobility/Table/26875/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-17", "original-4"], "id": 27, "name": "board"}], "id": 26, "name": "tabletop_surface"}, {"text": "Tabletop frame", "children": [{"text": "Bar", "objs": ["original-5"], "id": 29, "name": "bar"}, {"text": "Bar", "objs": ["original-14"], "id": 30, "name": "bar"}, {"text": "Bar", "objs": ["original-13"], "id": 31, "name": "bar"}], "id": 28, "name": "tabletop_frame"}], "id": 2, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["original-48"], "id": 23, "name": "cabinet_door_surface"}, {"text": "Handle", "objs": ["original-49"], "id": 24, "name": "handle"}, {"text": "Glass", "objs": ["original-47"], "id": 25, "name": "glass"}], "id": 4, "name": "cabinet_door"}, {"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["original-53"], "id": 20, "name": "cabinet_door_surface"}, {"text": "Handle", "objs": ["original-54"], "id": 21, "name": "handle"}, {"text": "Glass", "objs": ["original-52"], "id": 22, "name": "glass"}], "id": 5, "name": "cabinet_door"}, {"text": "Shelf", "objs": ["original-42"], "id": 6, "name": "shelf"}, {"text": "Shelf", "objs": ["original-41"], "id": 7, "name": "shelf"}, {"text": "Vertical side panel", "objs": ["original-15"], "id": 8, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-16"], "id": 9, "name": "vertical_side_panel"}, {"text": "Base side panel", "objs": ["original-7", "original-3"], "id": 10, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-1", "original-18", "original-6"], "id": 11, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-8", "original-2"], "id": 12, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["original-12"], "id": 13, "name": "base_side_panel"}, {"text": "Bottom panel", "objs": ["original-20"], "id": 14, "name": "bottom_panel"}, {"text": "Tabletop Connector", "objs": ["original-19"], "id": 15, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-28"], "id": 16, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-22"], "id": 17, "name": "tabletop_connector"}, {"text": "Bar Stretcher", "objs": ["original-55"], "id": 32, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-10"], "id": 33, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-9"], "id": 34, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-44"], "id": 35, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-43"], "id": 36, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-11"], "id": 37, "name": "bar_stretcher"}], "id": 3, "name": "drawer_base"}], "id": 1, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26875/result_after_merging.json b/PartNetMobility/Table/26875/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..72ed27240eedc0ebac83c5817579cda1d8295fea
--- /dev/null
+++ b/PartNetMobility/Table/26875/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"children": [{"id": 4, "objs": ["original-17", "original-4"], "text": "board", "name": "board", "ori_id": 27}], "id": 3, "ori_id": 26, "objs": ["original-17", "original-4"], "text": "tabletop_surface", "name": "tabletop_surface"}, {"children": [{"id": 6, "objs": ["original-5"], "text": "bar", "name": "bar", "ori_id": 29}, {"id": 7, "objs": ["original-14"], "text": "bar", "name": "bar", "ori_id": 30}, {"id": 8, "objs": ["original-13"], "text": "bar", "name": "bar", "ori_id": 31}], "id": 5, "ori_id": 28, "objs": ["original-5", "original-14", "original-13"], "text": "tabletop_frame", "name": "tabletop_frame"}], "id": 2, "ori_id": 2, "objs": ["original-17", "original-4", "original-5", "original-14", "original-13"], "text": "tabletop", "name": "tabletop"}, {"children": [{"children": [{"id": 11, "objs": ["original-48"], "text": "cabinet_door_surface", "name": "cabinet_door_surface", "ori_id": 23}, {"id": 12, "objs": ["original-49"], "text": "handle", "name": "handle", "ori_id": 24}], "id": 10, "ori_id": 4, "objs": ["original-48", "original-49", "original-47"], "text": "cabinet_door", "name": "cabinet_door"}, {"children": [{"id": 14, "objs": ["original-53"], "text": "cabinet_door_surface", "name": "cabinet_door_surface", "ori_id": 20}, {"id": 15, "objs": ["original-54"], "text": "handle", "name": "handle", "ori_id": 21}], "id": 13, "ori_id": 5, "objs": ["original-53", "original-54", "original-52"], "text": "cabinet_door", "name": "cabinet_door"}, {"id": 16, "objs": ["original-42"], "text": "shelf", "name": "shelf", "ori_id": 6}, {"id": 17, "objs": ["original-41"], "text": "shelf", "name": "shelf", "ori_id": 7}, {"id": 18, "objs": ["original-15"], "text": "vertical_side_panel", "name": "vertical_side_panel", "ori_id": 8}, {"id": 19, "objs": ["original-16"], "text": "vertical_side_panel", "name": "vertical_side_panel", "ori_id": 9}, {"id": 20, "objs": ["original-20"], "text": "bottom_panel", "name": "bottom_panel", "ori_id": 14}, {"id": 21, "objs": ["original-19"], "text": "tabletop_connector", "name": "tabletop_connector", "ori_id": 15}, {"id": 22, "objs": ["original-28"], "text": "tabletop_connector", "name": "tabletop_connector", "ori_id": 16}, {"id": 23, "objs": ["original-22"], "text": "tabletop_connector", "name": "tabletop_connector", "ori_id": 17}, {"id": 24, "objs": ["original-55"], "text": "bar_stretcher", "name": "bar_stretcher", "ori_id": 32}, {"id": 25, "objs": ["original-10"], "text": "bar_stretcher", "name": "bar_stretcher", "ori_id": 33}, {"id": 26, "objs": ["original-9"], "text": "bar_stretcher", "name": "bar_stretcher", "ori_id": 34}, {"id": 27, "objs": ["original-44"], "text": "bar_stretcher", "name": "bar_stretcher", "ori_id": 35}, {"id": 28, "objs": ["original-43"], "text": "bar_stretcher", "name": "bar_stretcher", "ori_id": 36}, {"id": 29, "objs": ["original-11"], "text": "bar_stretcher", "name": "bar_stretcher", "ori_id": 37}], "id": 9, "ori_id": 3, "objs": ["original-48", "original-49", "original-47", "original-53", "original-54", "original-52", "original-42", "original-41", "original-15", "original-16", "original-7", "original-3", "original-1", "original-18", "original-6", "original-8", "original-2", "original-12", "original-20", "original-19", "original-28", "original-22", "original-55", "original-10", "original-9", "original-44", "original-43", "original-11"], "text": "drawer_base", "name": "drawer_base"}], "id": 1, "ori_id": 1, "objs": ["original-17", "original-4", "original-5", "original-14", "original-13", "original-48", "original-49", "original-47", "original-53", "original-54", "original-52", "original-42", "original-41", "original-15", "original-16", "original-7", "original-3", "original-1", "original-18", "original-6", "original-8", "original-2", "original-12", "original-20", "original-19", "original-28", "original-22", "original-55", "original-10", "original-9", "original-44", "original-43", "original-11"], "text": "regular_table", "name": "regular_table"}], "id": 0, "ori_id": 0, "objs": ["original-17", "original-4", "original-5", "original-14", "original-13", "original-48", "original-49", "original-47", "original-53", "original-54", "original-52", "original-42", "original-41", "original-15", "original-16", "original-7", "original-3", "original-1", "original-18", "original-6", "original-8", "original-2", "original-12", "original-20", "original-19", "original-28", "original-22", "original-55", "original-10", "original-9", "original-44", "original-43", "original-11"], "text": "table", "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26875/semantics.txt b/PartNetMobility/Table/26875/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c4c7c49389740d4ac18442d0f666085b47d02fcf
--- /dev/null
+++ b/PartNetMobility/Table/26875/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge door
+link_1 hinge door
+link_2 heavy furniture_body
diff --git a/PartNetMobility/Table/26875/tree_hier.html b/PartNetMobility/Table/26875/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..ea102127ceb6f0c4e7f5d022d814ae1f89b70425
--- /dev/null
+++ b/PartNetMobility/Table/26875/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 desk Desk
2 tabletop Tabletop
3 drawer_base Drawer Base
26 tabletop_surface Tabletop surface
28 tabletop_frame Tabletop frame
4 cabinet_door Cabinet door
5 cabinet_door Cabinet door
6 shelf Shelf
7 shelf Shelf
8 vertical_side_panel Vertical side panel
9 vertical_side_panel Vertical side panel
10 base_side_panel Base side panel
11 base_side_panel Base side panel
12 base_side_panel Base side panel
13 base_side_panel Base side panel
14 bottom_panel Bottom panel
15 tabletop_connector Tabletop Connector
16 tabletop_connector Tabletop Connector
17 tabletop_connector Tabletop Connector
32 bar_stretcher Bar Stretcher
33 bar_stretcher Bar Stretcher
34 bar_stretcher Bar Stretcher
35 bar_stretcher Bar Stretcher
36 bar_stretcher Bar Stretcher
37 bar_stretcher Bar Stretcher
27 board Board
29 bar Bar
30 bar Bar
31 bar Bar
23 cabinet_door_surface Cabinet door surface
24 handle Handle
25 glass Glass
20 cabinet_door_surface Cabinet door surface
21 handle Handle
22 glass Glass
\ No newline at end of file
diff --git a/PartNetMobility/Table/26875/tree_hier_after_merging.html b/PartNetMobility/Table/26875/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..271ae4eed539c33ef8ce3b231b84322ff2161965
--- /dev/null
+++ b/PartNetMobility/Table/26875/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
9 drawer_base drawer_base
3 tabletop_surface tabletop_surface
5 tabletop_frame tabletop_frame
10 cabinet_door cabinet_door
13 cabinet_door cabinet_door
16 shelf shelf
17 shelf shelf
18 vertical_side_panel vertical_side_panel
19 vertical_side_panel vertical_side_panel
20 bottom_panel bottom_panel
21 tabletop_connector tabletop_connector
22 tabletop_connector tabletop_connector
23 tabletop_connector tabletop_connector
24 bar_stretcher bar_stretcher
25 bar_stretcher bar_stretcher
26 bar_stretcher bar_stretcher
27 bar_stretcher bar_stretcher
28 bar_stretcher bar_stretcher
29 bar_stretcher bar_stretcher
4 board board
6 bar bar
7 bar bar
8 bar bar
11 cabinet_door_surface cabinet_door_surface
12 handle handle
14 cabinet_door_surface cabinet_door_surface
15 handle handle
\ No newline at end of file
diff --git a/PartNetMobility/Table/26886/bounding_box.json b/PartNetMobility/Table/26886/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b344acf2374b00cb0c00ebbbc0df98a778d2ebb
--- /dev/null
+++ b/PartNetMobility/Table/26886/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.625093, -0.739657, -0.61072], "max": [0.653347, 0.297163, 0.591622]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/26886/meta.json b/PartNetMobility/Table/26886/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c3ff198d24167d06f6e1a128868ddd01fa3c7ea
--- /dev/null
+++ b/PartNetMobility/Table/26886/meta.json
@@ -0,0 +1 @@
+{"model_id": "9d4b8c8d26c3be06d269116c7276660", "anno_id": "26886", "user_id": "yz-zhangl", "time_in_sec": "750", "version": "3", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/26886/mobility.urdf b/PartNetMobility/Table/26886/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0e4fbf4a31ca3ca56f6cc4361f081c11d6a2e63f
--- /dev/null
+++ b/PartNetMobility/Table/26886/mobility.urdf
@@ -0,0 +1,2095 @@
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diff --git a/PartNetMobility/Table/26886/mobility_v2.json b/PartNetMobility/Table/26886/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..209bfec3547e52b204de48af1c468ffda37e8e74
--- /dev/null
+++ b/PartNetMobility/Table/26886/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":52,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6787890094143547,0.4365860285099597],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":50,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6787890040751619,-0.47658498765898444],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":48,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6787890040751619,-0.47658498765898444],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":46,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.678788704455276,0.4365865396133587],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":-1,"joint":"heavy","name":"tabletop","parts":[{"id":60,"name":"board","children":[]},{"id":62,"name":"bar","children":[]},{"id":63,"name":"bar","children":[]},{"id":64,"name":"bar","children":[]},{"id":65,"name":"bar","children":[]},{"id":17,"name":"other_leaf","children":[]},{"id":18,"name":"shelf","children":[]},{"id":28,"name":"tabletop_connector","children":[]},{"id":29,"name":"tabletop_connector","children":[]},{"id":30,"name":"tabletop_connector","children":[]},{"id":31,"name":"tabletop_connector","children":[]},{"id":33,"name":"leg","children":[]},{"id":34,"name":"leg","children":[]},{"id":35,"name":"leg","children":[]},{"id":36,"name":"leg","children":[]},{"id":41,"name":"bar_stretcher","children":[]},{"id":42,"name":"bar_stretcher","children":[]},{"id":43,"name":"bar_stretcher","children":[]},{"id":44,"name":"bar_stretcher","children":[]},{"id":51,"name":"caster_mounting_plate","children":[]},{"id":49,"name":"caster_mounting_plate","children":[]},{"id":47,"name":"caster_mounting_plate","children":[]},{"id":45,"name":"caster_mounting_plate","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26886/result.json b/PartNetMobility/Table/26886/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..93b37a4cf0f95e7408c5b1f55d33bd6c4d6e4800
--- /dev/null
+++ b/PartNetMobility/Table/26886/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-26"], "id": 60, "name": "board"}], "id": 53, "name": "tabletop_surface"}, {"text": "Tabletop frame", "children": [{"text": "Bar", "objs": ["original-29"], "id": 62, "name": "bar"}, {"text": "Bar", "objs": ["original-28"], "id": 63, "name": "bar"}, {"text": "Bar", "objs": ["original-123"], "id": 64, "name": "bar"}, {"text": "Bar", "objs": ["original-27"], "id": 65, "name": "bar"}], "id": 61, "name": "tabletop_frame"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Shelving Base", "children": [{"text": "box (other)", "children": [{"text": "other_leaf", "objs": ["original-175", "original-157", "original-174", "original-166", "original-165", "original-176", "original-164", "original-177", "original-168", "original-173", "original-179", "original-180", "original-182", "original-172", "original-181", "original-156", "original-158", "original-159", "original-160", "original-161", "original-226", "original-227", "original-178", "original-189", "original-188", "original-187", "original-186", "original-183", "original-184", "original-185", "original-163", "original-171", "original-162", "original-167", "original-169", "original-170", "original-228", "original-225", "original-201", "original-221", "original-200", "original-199", "original-197", "original-206", "original-194", "original-205", "original-195", "original-219", "original-210", "original-196", "original-203", "original-204", "original-209", "original-191", "original-223", "original-229", "original-222", "original-198", "original-193", "original-217", "original-220", "original-214", "original-212", "original-211", "original-208", "original-207", "original-202", "original-192", "original-213", "original-224", "original-218", "original-216", "original-215"], "id": 17, "name": "other_leaf"}], "id": 16, "name": "other"}, {"text": "Shelf", "objs": ["original-25"], "id": 18, "name": "shelf"}, {"text": "Tabletop Connector", "objs": ["original-18"], "id": 28, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-20"], "id": 29, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-19"], "id": 30, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-17"], "id": 31, "name": "tabletop_connector"}, {"text": "Leg", "objs": ["original-11", "original-12", "original-15"], "id": 33, "name": "leg"}, {"text": "Leg", "objs": ["original-5", "original-6", "original-16"], "id": 34, "name": "leg"}, {"text": "Leg", "objs": ["original-2", "original-3", "original-13"], "id": 35, "name": "leg"}, {"text": "Leg", "objs": ["original-8", "original-9", "original-14"], "id": 36, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Mounting Plate", "objs": ["original-33", "original-32", "original-43", "original-60", "original-41", "original-40", "original-46", "original-59", "original-56", "original-55", "original-58", "original-35", "original-53", "original-52", "original-49", "original-50", "original-44"], "id": 51, "name": "caster_mounting_plate"}, {"text": "Wheel", "objs": ["original-47"], "id": 52, "name": "wheel"}], "id": 37, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Mounting Plate", "objs": ["original-106", "original-95", "original-105", "original-94", "original-122", "original-103", "original-102", "original-117", "original-118", "original-120", "original-121", "original-111", "original-112", "original-115", "original-114", "original-97", "original-108"], "id": 49, "name": "caster_mounting_plate"}, {"text": "Wheel", "objs": ["original-109"], "id": 50, "name": "wheel"}], "id": 38, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Mounting Plate", "objs": ["original-127", "original-126", "original-138", "original-137", "original-154", "original-135", "original-134", "original-144", "original-143", "original-152", "original-153", "original-146", "original-147", "original-150", "original-149", "original-140", "original-129"], "id": 47, "name": "caster_mounting_plate"}, {"text": "Wheel", "objs": ["original-141"], "id": 48, "name": "wheel"}], "id": 39, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Mounting Plate", "objs": ["original-83", "original-84", "original-86", "original-87", "original-80", "original-81", "original-89", "original-90", "original-63", "original-71", "original-72", "original-75", "original-64", "original-74", "original-91", "original-77", "original-66"], "id": 45, "name": "caster_mounting_plate"}, {"text": "Wheel", "objs": ["original-78"], "id": 46, "name": "wheel"}], "id": 40, "name": "caster"}, {"text": "Bar Stretcher", "objs": ["original-21"], "id": 41, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-24"], "id": 42, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-22"], "id": 43, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-23"], "id": 44, "name": "bar_stretcher"}], "id": 4, "name": "shelving_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26886/result_after_merging.json b/PartNetMobility/Table/26886/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..49809ef9aea4746ae3d5c1b0fe09751f4b07d37a
--- /dev/null
+++ b/PartNetMobility/Table/26886/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"children": [{"objs": ["original-26"], "text": "board", "ori_id": 60, "id": 4, "name": "board"}], "objs": ["original-26"], "text": "tabletop_surface", "name": "tabletop_surface", "ori_id": 53, "id": 3}, {"children": [{"objs": ["original-29"], "text": "bar", "ori_id": 62, "id": 6, "name": "bar"}, {"objs": ["original-28"], "text": "bar", "ori_id": 63, "id": 7, "name": "bar"}, {"objs": ["original-123"], "text": "bar", "ori_id": 64, "id": 8, "name": "bar"}, {"objs": ["original-27"], "text": "bar", "ori_id": 65, "id": 9, "name": "bar"}], "objs": ["original-29", "original-28", "original-123", "original-27"], "text": "tabletop_frame", "name": "tabletop_frame", "ori_id": 61, "id": 5}], "objs": ["original-26", "original-29", "original-28", "original-123", "original-27"], "text": "tabletop", "name": "tabletop", "ori_id": 2, "id": 2}, {"children": [{"children": [{"objs": ["original-25"], "text": "shelf", "ori_id": 18, "id": 12, "name": "shelf"}, {"objs": ["original-18"], "text": "tabletop_connector", "ori_id": 28, "id": 13, "name": "tabletop_connector"}, {"objs": ["original-20"], "text": "tabletop_connector", "ori_id": 29, "id": 14, "name": "tabletop_connector"}, {"objs": ["original-19"], "text": "tabletop_connector", "ori_id": 30, "id": 15, "name": "tabletop_connector"}, {"objs": ["original-17"], "text": "tabletop_connector", "ori_id": 31, "id": 16, "name": "tabletop_connector"}, {"objs": ["original-11", "original-12", "original-15"], "text": "leg", "ori_id": 33, "id": 17, "name": "leg"}, {"objs": ["original-5", "original-6", "original-16"], "text": "leg", "ori_id": 34, "id": 18, "name": "leg"}, {"objs": ["original-2", "original-3", "original-13"], "text": "leg", "ori_id": 35, "id": 19, "name": "leg"}, {"objs": ["original-8", "original-9", "original-14"], "text": "leg", "ori_id": 36, "id": 20, "name": "leg"}, {"children": [{"objs": ["original-47"], "text": "wheel", "ori_id": 52, "id": 22, "name": "wheel"}], "objs": ["original-33", "original-32", "original-43", "original-60", "original-41", "original-40", "original-46", "original-59", "original-56", "original-55", "original-58", "original-35", "original-53", "original-52", "original-49", "original-50", "original-44", "original-47"], "text": "caster", "name": "caster", "ori_id": 37, "id": 21}, {"children": [{"objs": ["original-109"], "text": "wheel", "ori_id": 50, "id": 24, "name": "wheel"}], "objs": ["original-106", "original-95", "original-105", "original-94", "original-122", "original-103", "original-102", "original-117", "original-118", "original-120", "original-121", "original-111", "original-112", "original-115", "original-114", "original-97", "original-108", "original-109"], "text": "caster", "name": "caster", "ori_id": 38, "id": 23}, {"children": [{"objs": ["original-141"], "text": "wheel", "ori_id": 48, "id": 26, "name": "wheel"}], "objs": ["original-127", "original-126", "original-138", "original-137", "original-154", "original-135", "original-134", "original-144", "original-143", "original-152", "original-153", "original-146", "original-147", "original-150", "original-149", "original-140", "original-129", "original-141"], "text": "caster", "name": "caster", "ori_id": 39, "id": 25}, {"children": [{"objs": ["original-78"], "text": "wheel", "ori_id": 46, "id": 28, "name": "wheel"}], "objs": ["original-83", "original-84", "original-86", "original-87", "original-80", "original-81", "original-89", "original-90", "original-63", "original-71", "original-72", "original-75", "original-64", "original-74", "original-91", "original-77", "original-66", "original-78"], "text": "caster", "name": "caster", "ori_id": 40, "id": 27}, {"objs": ["original-21"], "text": "bar_stretcher", "ori_id": 41, "id": 29, "name": "bar_stretcher"}, {"objs": ["original-24"], "text": "bar_stretcher", "ori_id": 42, "id": 30, "name": "bar_stretcher"}, {"objs": ["original-22"], "text": "bar_stretcher", "ori_id": 43, "id": 31, "name": "bar_stretcher"}, {"objs": ["original-23"], "text": "bar_stretcher", "ori_id": 44, "id": 32, "name": "bar_stretcher"}], "objs": ["original-175", "original-157", "original-174", "original-166", "original-165", "original-176", "original-164", "original-177", "original-168", "original-173", "original-179", "original-180", "original-182", "original-172", "original-181", "original-156", "original-158", "original-159", "original-160", "original-161", "original-226", "original-227", "original-178", "original-189", "original-188", "original-187", "original-186", "original-183", "original-184", "original-185", "original-163", "original-171", "original-162", "original-167", "original-169", "original-170", "original-228", "original-225", "original-201", "original-221", "original-200", "original-199", "original-197", "original-206", "original-194", "original-205", "original-195", "original-219", "original-210", "original-196", "original-203", "original-204", "original-209", "original-191", "original-223", "original-229", "original-222", "original-198", "original-193", "original-217", "original-220", "original-214", "original-212", "original-211", "original-208", "original-207", "original-202", "original-192", "original-213", "original-224", "original-218", "original-216", "original-215", "original-25", "original-18", "original-20", "original-19", "original-17", "original-11", "original-12", "original-15", "original-5", "original-6", "original-16", "original-2", "original-3", "original-13", "original-8", "original-9", "original-14", "original-33", "original-32", "original-43", "original-60", "original-41", "original-40", "original-46", "original-59", "original-56", "original-55", "original-58", "original-35", "original-53", "original-52", "original-49", "original-50", "original-44", "original-47", "original-106", "original-95", "original-105", "original-94", "original-122", "original-103", "original-102", "original-117", "original-118", "original-120", "original-121", "original-111", "original-112", "original-115", "original-114", "original-97", "original-108", "original-109", "original-127", "original-126", "original-138", "original-137", "original-154", "original-135", "original-134", "original-144", "original-143", "original-152", "original-153", "original-146", "original-147", "original-150", "original-149", "original-140", "original-129", "original-141", "original-83", "original-84", "original-86", "original-87", "original-80", "original-81", "original-89", "original-90", "original-63", "original-71", "original-72", "original-75", "original-64", "original-74", "original-91", "original-77", "original-66", "original-78", "original-21", "original-24", "original-22", "original-23"], "text": "drawer_base", "name": "drawer_base", "ori_id": 4, "id": 11}], "objs": ["original-175", "original-157", "original-174", "original-166", "original-165", "original-176", "original-164", "original-177", "original-168", "original-173", "original-179", "original-180", 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\ No newline at end of file
diff --git a/PartNetMobility/Table/26886/semantics.txt b/PartNetMobility/Table/26886/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..80019f09ed42d33f08855755b1f7bb5e7f5af0ba
--- /dev/null
+++ b/PartNetMobility/Table/26886/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 heavy furniture_body
diff --git a/PartNetMobility/Table/26886/tree_hier.html b/PartNetMobility/Table/26886/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..5a7a94e4a24d7f160a939e6aefffc05852c11d1a
--- /dev/null
+++ b/PartNetMobility/Table/26886/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
53 tabletop_surface Tabletop surface
61 tabletop_frame Tabletop frame
4 shelving_base Shelving Base
60 board Board
62 bar Bar
63 bar Bar
64 bar Bar
65 bar Bar
16 other box (other)
18 shelf Shelf
28 tabletop_connector Tabletop Connector
29 tabletop_connector Tabletop Connector
30 tabletop_connector Tabletop Connector
31 tabletop_connector Tabletop Connector
33 leg Leg
34 leg Leg
35 leg Leg
36 leg Leg
37 caster Wheel Assembly
38 caster Wheel Assembly
39 caster Wheel Assembly
40 caster Wheel Assembly
41 bar_stretcher Bar Stretcher
42 bar_stretcher Bar Stretcher
43 bar_stretcher Bar Stretcher
44 bar_stretcher Bar Stretcher
17 other_leaf other_leaf
51 caster_mounting_plate Mounting Plate
52 wheel Wheel
49 caster_mounting_plate Mounting Plate
50 wheel Wheel
47 caster_mounting_plate Mounting Plate
48 wheel Wheel
45 caster_mounting_plate Mounting Plate
46 wheel Wheel
\ No newline at end of file
diff --git a/PartNetMobility/Table/26886/tree_hier_after_merging.html b/PartNetMobility/Table/26886/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..4443785972dee7632cb08c6719d71c2377e1cb61
--- /dev/null
+++ b/PartNetMobility/Table/26886/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
10 table_base table_base
3 tabletop_surface tabletop_surface
5 tabletop_frame tabletop_frame
11 drawer_base drawer_base
4 board board
6 bar bar
7 bar bar
8 bar bar
9 bar bar
12 shelf shelf
13 tabletop_connector tabletop_connector
14 tabletop_connector tabletop_connector
15 tabletop_connector tabletop_connector
16 tabletop_connector tabletop_connector
17 leg leg
18 leg leg
19 leg leg
20 leg leg
21 caster caster
23 caster caster
25 caster caster
27 caster caster
29 bar_stretcher bar_stretcher
30 bar_stretcher bar_stretcher
31 bar_stretcher bar_stretcher
32 bar_stretcher bar_stretcher
22 wheel wheel
24 wheel wheel
26 wheel wheel
28 wheel wheel
\ No newline at end of file
diff --git a/PartNetMobility/Table/26899/bounding_box.json b/PartNetMobility/Table/26899/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8bf083aef2a7eff170616548825280ccb2ef380
--- /dev/null
+++ b/PartNetMobility/Table/26899/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.776301, -0.54485, -0.637275], "max": [0.945301, 0.316351, 0.66318]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/26899/meta.json b/PartNetMobility/Table/26899/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e43f29889aa75112c2740db9c6f47fcf7b84e700
--- /dev/null
+++ b/PartNetMobility/Table/26899/meta.json
@@ -0,0 +1 @@
+{"model_id": "9f4eb0d734a2b7a4ab610b0c94236463", "anno_id": "26899", "user_id": "yz-zhangl", "time_in_sec": "254", "version": "3", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/26899/mobility.urdf b/PartNetMobility/Table/26899/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b06fd1159962d4b00e13e1ae5f2c000e7a0a7cd5
--- /dev/null
+++ b/PartNetMobility/Table/26899/mobility.urdf
@@ -0,0 +1,272 @@
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diff --git a/PartNetMobility/Table/26899/mobility_v2.json b/PartNetMobility/Table/26899/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7ef02be4d64aa6a294e16955756d3c5ad0b65f0
--- /dev/null
+++ b/PartNetMobility/Table/26899/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"cabinet_door","parts":[{"id":24,"name":"cabinet_door_surface","children":[]},{"id":25,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[-0.261252100892782,0,-0.2826091865222448],"direction":[0,1,0]},"limit":{"a":0,"b":-90,"noLimit":false}}},{"id":1,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":27,"name":"board","children":[]},{"id":6,"name":"back_panel","children":[]},{"id":7,"name":"vertical_side_panel","children":[]},{"id":8,"name":"vertical_side_panel","children":[]},{"id":9,"name":"bottom_panel","children":[]},{"id":10,"name":"runner","children":[]},{"id":11,"name":"runner","children":[]},{"id":12,"name":"runner","children":[]},{"id":13,"name":"runner","children":[]},{"id":14,"name":"runner","children":[]},{"id":15,"name":"runner","children":[]},{"id":20,"name":"tabletop_connector","children":[]},{"id":21,"name":"tabletop_connector","children":[]},{"id":22,"name":"tabletop_connector","children":[]},{"id":23,"name":"tabletop_connector","children":[]},{"id":28,"name":"leg","children":[]},{"id":29,"name":"leg","children":[]},{"id":30,"name":"leg","children":[]},{"id":31,"name":"leg","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26899/result.json b/PartNetMobility/Table/26899/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0576799e8dbb50cffa12f3c11281c0c16e9e6023
--- /dev/null
+++ b/PartNetMobility/Table/26899/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-1"], "id": 27, "name": "board"}], "id": 26, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["original-15"], "id": 24, "name": "cabinet_door_surface"}, {"text": "Handle", "objs": ["original-16"], "id": 25, "name": "handle"}], "id": 5, "name": "cabinet_door"}, {"text": "Back panel", "objs": ["original-17"], "id": 6, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-7"], "id": 7, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-6"], "id": 8, "name": "vertical_side_panel"}, {"text": "Bottom panel", "objs": ["original-22"], "id": 9, "name": "bottom_panel"}, {"text": "Runner", "objs": ["original-4"], "id": 10, "name": "runner"}, {"text": "Runner", "objs": ["original-3"], "id": 11, "name": "runner"}, {"text": "Runner", "objs": ["original-19"], "id": 12, "name": "runner"}, {"text": "Runner", "objs": ["original-20"], "id": 13, "name": "runner"}, {"text": "Runner", "objs": ["original-18"], "id": 14, "name": "runner"}, {"text": "Runner", "objs": ["original-21"], "id": 15, "name": "runner"}, {"text": "Tabletop Connector", "objs": ["original-13"], "id": 20, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-14"], "id": 21, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-5"], "id": 22, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-12"], "id": 23, "name": "tabletop_connector"}, {"text": "Leg", "objs": ["original-8"], "id": 28, "name": "leg"}, {"text": "Leg", "objs": ["original-9"], "id": 29, "name": "leg"}, {"text": "Leg", "objs": ["original-11"], "id": 30, "name": "leg"}, {"text": "Leg", "objs": ["original-10"], "id": 31, "name": "leg"}], "id": 4, "name": "drawer_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/26899/result_after_merging.json b/PartNetMobility/Table/26899/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..757f7350c1b1436f4b44b768313100fd97c2ea94
--- /dev/null
+++ b/PartNetMobility/Table/26899/result_after_merging.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/26899/semantics.txt b/PartNetMobility/Table/26899/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f4ce94788c72441555646bd7a5cc4d78735654e
--- /dev/null
+++ b/PartNetMobility/Table/26899/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge door
+link_1 heavy furniture_body
diff --git a/PartNetMobility/Table/26899/tree_hier.html b/PartNetMobility/Table/26899/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..7d0e73056e2bbd0a68141356adc4db2a4c64b505
--- /dev/null
+++ b/PartNetMobility/Table/26899/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
26 tabletop_surface Tabletop surface
4 drawer_base Drawer Base
27 board Board
5 cabinet_door Cabinet door
6 back_panel Back panel
7 vertical_side_panel Vertical side panel
8 vertical_side_panel Vertical side panel
9 bottom_panel Bottom panel
10 runner Runner
11 runner Runner
12 runner Runner
13 runner Runner
14 runner Runner
15 runner Runner
20 tabletop_connector Tabletop Connector
21 tabletop_connector Tabletop Connector
22 tabletop_connector Tabletop Connector
23 tabletop_connector Tabletop Connector
28 leg Leg
29 leg Leg
30 leg Leg
31 leg Leg
24 cabinet_door_surface Cabinet door surface
25 handle Handle
\ No newline at end of file
diff --git a/PartNetMobility/Table/26899/tree_hier_after_merging.html b/PartNetMobility/Table/26899/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..de97d2bad7f29fbb4dda10322e3f1fc417cf442a
--- /dev/null
+++ b/PartNetMobility/Table/26899/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
6 drawer_base drawer_base
4 board board
7 cabinet_door cabinet_door
10 back_panel back_panel
11 vertical_side_panel vertical_side_panel
12 vertical_side_panel vertical_side_panel
13 bottom_panel bottom_panel
14 tabletop_connector tabletop_connector
15 tabletop_connector tabletop_connector
16 tabletop_connector tabletop_connector
17 tabletop_connector tabletop_connector
18 leg leg
19 leg leg
20 leg leg
21 leg leg
8 cabinet_door_surface cabinet_door_surface
9 handle handle
\ No newline at end of file
diff --git a/PartNetMobility/Table/27044/bounding_box.json b/PartNetMobility/Table/27044/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..57e3d0f3164207e85a28fa8d62a52c063e099244
--- /dev/null
+++ b/PartNetMobility/Table/27044/bounding_box.json
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+{"min": [-0.599723, -0.730878, -0.413706], "max": [0.544514, 0.371751, 0.460076]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/27044/meta.json b/PartNetMobility/Table/27044/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d24d2d4703dede2183d6079ba6a1946411ba5802
--- /dev/null
+++ b/PartNetMobility/Table/27044/meta.json
@@ -0,0 +1 @@
+{"model_id": "a19e6780182c72cf9bf8bea04806ba15", "anno_id": "27044", "user_id": "shape17", "time_in_sec": "295", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/27044/mobility.urdf b/PartNetMobility/Table/27044/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3771260b17d9a1a22a78de860f4f5c6b58e01d63
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diff --git a/PartNetMobility/Table/27044/mobility_v2.json b/PartNetMobility/Table/27044/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..292a267d59dd0e11b0676129c427e791cb3eee76
--- /dev/null
+++ b/PartNetMobility/Table/27044/mobility_v2.json
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+[{"id":0,"parent":1,"joint":"slider","name":"drawer","parts":[{"id":31,"name":"drawer_front","children":[]},{"id":32,"name":"drawer_side","children":[]},{"id":33,"name":"drawer_side","children":[]},{"id":34,"name":"drawer_back","children":[]},{"id":35,"name":"drawer_bottom","children":[]},{"id":30,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.6840000000000002,"noLimit":false}}},{"id":1,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":19,"name":"board","children":[]},{"id":21,"name":"shelf","children":[]},{"id":22,"name":"back_panel","children":[]},{"id":23,"name":"vertical_side_panel","children":[]},{"id":24,"name":"vertical_side_panel","children":[]},{"id":25,"name":"leg","children":[]},{"id":26,"name":"leg","children":[]},{"id":27,"name":"leg","children":[]},{"id":28,"name":"leg","children":[]},{"id":36,"name":"tabletop_connector","children":[]},{"id":37,"name":"bar_stretcher","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/27044/result.json b/PartNetMobility/Table/27044/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1773893735c990110f7ffd63f718d6170f9eb77c
--- /dev/null
+++ b/PartNetMobility/Table/27044/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-2"], "id": 19, "name": "board"}], "id": 18, "name": "tabletop_surface"}], "id": 3, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-12"], "id": 31, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-18"], "id": 32, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-11"], "id": 33, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-10"], "id": 34, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-13"], "id": 35, "name": "drawer_bottom"}], "id": 29, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-16", "original-15", "original-17"], "id": 30, "name": "handle"}], "id": 20, "name": "drawer"}, {"text": "Shelf", "objs": ["original-7"], "id": 21, "name": "shelf"}, {"text": "Back panel", "objs": ["original-19"], "id": 22, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-8"], "id": 23, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-6"], "id": 24, "name": "vertical_side_panel"}, {"text": "Leg", "objs": ["original-5"], "id": 25, "name": "leg"}, {"text": "Leg", "objs": ["original-4"], "id": 26, "name": "leg"}, {"text": "Leg", "objs": ["original-1"], "id": 27, "name": "leg"}, {"text": "Leg", "objs": ["original-3"], "id": 28, "name": "leg"}, {"text": "Tabletop Connector", "objs": ["original-20"], "id": 36, "name": "tabletop_connector"}, {"text": "Bar Stretcher", "objs": ["original-21"], "id": 37, "name": "bar_stretcher"}], "id": 4, "name": "drawer_base"}], "id": 2, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/27044/result_after_merging.json b/PartNetMobility/Table/27044/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..254a64bdbb4375a54fe5f5b934d22a451d38a6c9
--- /dev/null
+++ b/PartNetMobility/Table/27044/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "table", "ori_id": 0, "name": "table", "id": 0, "objs": ["original-2", "original-12", "original-18", "original-11", "original-10", "original-13", "original-16", "original-15", "original-17", "original-7", "original-19", "original-8", "original-6", "original-5", "original-4", "original-1", "original-3", "original-20", "original-21"], "children": [{"text": "regular_table", "ori_id": 2, "name": "regular_table", "id": 1, "objs": ["original-2", "original-12", "original-18", "original-11", "original-10", "original-13", "original-16", "original-15", "original-17", "original-7", "original-19", "original-8", "original-6", "original-5", "original-4", "original-1", "original-3", "original-20", "original-21"], "children": [{"text": "tabletop", "ori_id": 3, "name": "tabletop", "id": 2, "objs": ["original-2"], "children": [{"text": "tabletop_surface", "ori_id": 18, "name": "tabletop_surface", "id": 3, "objs": ["original-2"], "children": [{"text": "board", "id": 4, "ori_id": 19, "objs": ["original-2"], "name": "board"}]}]}, {"text": "drawer_base", "ori_id": 4, "name": "drawer_base", "id": 5, "objs": ["original-12", "original-18", "original-11", "original-10", "original-13", "original-16", "original-15", "original-17", "original-7", "original-19", "original-8", "original-6", "original-5", "original-4", "original-1", "original-3", "original-20", "original-21"], "children": [{"text": "drawer", "ori_id": 20, "name": "drawer", "id": 6, "objs": ["original-12", "original-18", "original-11", "original-10", "original-13", "original-16", "original-15", "original-17"], "children": [{"text": "drawer_box", "ori_id": 29, "name": "drawer_box", "id": 7, "objs": ["original-12", "original-18", "original-11", "original-10", "original-13"], "children": [{"text": "drawer_front", "id": 8, "ori_id": 31, "objs": ["original-12"], "name": "drawer_front"}, {"text": "drawer_side", "id": 9, "ori_id": 32, "objs": ["original-18"], "name": "drawer_side"}, {"text": "drawer_side", "id": 10, "ori_id": 33, "objs": ["original-11"], "name": "drawer_side"}, {"text": "drawer_back", "id": 11, "ori_id": 34, "objs": ["original-10"], "name": "drawer_back"}, {"text": "drawer_bottom", "id": 12, "ori_id": 35, "objs": ["original-13"], "name": "drawer_bottom"}]}, {"text": "handle", "id": 13, "ori_id": 30, "objs": ["original-16", "original-15", "original-17"], "name": "handle"}]}, {"text": "shelf", "id": 14, "ori_id": 21, "objs": ["original-7"], "name": "shelf"}, {"text": "back_panel", "id": 15, "ori_id": 22, "objs": ["original-19"], "name": "back_panel"}, {"text": "vertical_side_panel", "id": 16, "ori_id": 23, "objs": ["original-8"], "name": "vertical_side_panel"}, {"text": "vertical_side_panel", "id": 17, "ori_id": 24, "objs": ["original-6"], "name": "vertical_side_panel"}, {"text": "leg", "id": 18, "ori_id": 25, "objs": ["original-5"], "name": "leg"}, {"text": "leg", "id": 19, "ori_id": 26, "objs": ["original-4"], "name": "leg"}, {"text": "leg", "id": 20, "ori_id": 27, "objs": ["original-1"], "name": "leg"}, {"text": "leg", "id": 21, "ori_id": 28, "objs": ["original-3"], "name": "leg"}, {"text": "tabletop_connector", "id": 22, "ori_id": 36, "objs": ["original-20"], "name": "tabletop_connector"}, {"text": "bar_stretcher", "id": 23, "ori_id": 37, "objs": ["original-21"], "name": "bar_stretcher"}]}]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/27044/semantics.txt b/PartNetMobility/Table/27044/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e633624fa79600e01561864dbeb1d30368693f9a
--- /dev/null
+++ b/PartNetMobility/Table/27044/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider drawer
+link_1 heavy furniture_body
diff --git a/PartNetMobility/Table/27044/tree_hier.html b/PartNetMobility/Table/27044/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..94fbd53f5c92ce11effeef4672cb3bdeff8f7bcf
--- /dev/null
+++ b/PartNetMobility/Table/27044/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
2 desk Desk
3 tabletop Tabletop
4 drawer_base Drawer Base
18 tabletop_surface Tabletop surface
20 drawer Drawer
21 shelf Shelf
22 back_panel Back panel
23 vertical_side_panel Vertical side panel
24 vertical_side_panel Vertical side panel
25 leg Leg
26 leg Leg
27 leg Leg
28 leg Leg
36 tabletop_connector Tabletop Connector
37 bar_stretcher Bar Stretcher
19 board Board
29 drawer_box Drawer box
30 handle Handle
31 drawer_front Drawer front
32 drawer_side Drawer side
33 drawer_side Drawer side
34 drawer_back Drawer back
35 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/27044/tree_hier_after_merging.html b/PartNetMobility/Table/27044/tree_hier_after_merging.html
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/27044/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 drawer_base drawer_base
3 tabletop_surface tabletop_surface
6 drawer drawer
14 shelf shelf
15 back_panel back_panel
16 vertical_side_panel vertical_side_panel
17 vertical_side_panel vertical_side_panel
18 leg leg
19 leg leg
20 leg leg
21 leg leg
22 tabletop_connector tabletop_connector
23 bar_stretcher bar_stretcher
4 board board
7 drawer_box drawer_box
13 handle handle
8 drawer_front drawer_front
9 drawer_side drawer_side
10 drawer_side drawer_side
11 drawer_back drawer_back
12 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/27267/bounding_box.json b/PartNetMobility/Table/27267/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..d92080938206d967b30c4f6e0d01bfe760cd5050
--- /dev/null
+++ b/PartNetMobility/Table/27267/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.591342, -0.781947, -0.757061], "max": [0.536422, 0.590165, 0.792666]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/27267/meta.json b/PartNetMobility/Table/27267/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..902b9ce9c63e83bcd57091a8d9ee2b578c8fb225
--- /dev/null
+++ b/PartNetMobility/Table/27267/meta.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/27267/mobility.urdf b/PartNetMobility/Table/27267/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2ca73b488d19596be8a7296f5fa4dc7ccae33b36
--- /dev/null
+++ b/PartNetMobility/Table/27267/mobility.urdf
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diff --git a/PartNetMobility/Table/27267/mobility_v2.json b/PartNetMobility/Table/27267/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3b672be55097310c3db45ffee13633015caa6b6
--- /dev/null
+++ b/PartNetMobility/Table/27267/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"cabinet_door_surface","parts":[{"id":44,"name":"cabinet_door_surface","children":[]}],"jointData":{"axis":{"origin":[-0.49945023751669315,0.5901650000000002,0.4519858499278372],"direction":[0,1,0]},"limit":{"a":20.16,"b":-69.12,"noLimit":false}}},{"id":1,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":62,"name":"board","children":[]},{"id":25,"name":"shelf","children":[]},{"id":26,"name":"shelf","children":[]},{"id":27,"name":"shelf","children":[]},{"id":28,"name":"shelf","children":[]},{"id":29,"name":"shelf","children":[]},{"id":30,"name":"vertical_side_panel","children":[]},{"id":31,"name":"vertical_side_panel","children":[]},{"id":32,"name":"leg","children":[]},{"id":33,"name":"leg","children":[]},{"id":34,"name":"leg","children":[]},{"id":35,"name":"leg","children":[]},{"id":40,"name":"bar_stretcher","children":[]},{"id":41,"name":"bar_stretcher","children":[]},{"id":58,"name":"tabletop_connector","children":[]},{"id":59,"name":"tabletop_connector","children":[]},{"id":50,"name":"drawer_rails","children":[]},{"id":51,"name":"drawer_rails","children":[]}],"jointData":{}},{"id":2,"parent":1,"joint":"slider","name":"handle","parts":[{"id":49,"name":"handle","children":[]},{"id":52,"name":"drawer_front","children":[]},{"id":53,"name":"drawer_side","children":[]},{"id":54,"name":"drawer_back","children":[]},{"id":55,"name":"drawer_bottom","children":[]},{"id":60,"name":"drawer_side","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0.2240000000000002,"b":-0.268,"noLimit":false}}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/27267/result.json b/PartNetMobility/Table/27267/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d41c971890a2dfa2560f087bc1c14ca4ecb2a13b
--- /dev/null
+++ b/PartNetMobility/Table/27267/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-14"], "id": 62, "name": "board"}], "id": 61, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Shelf", "objs": ["original-18"], "id": 25, "name": "shelf"}, {"text": "Shelf", "objs": ["original-17"], "id": 26, "name": "shelf"}, {"text": "Shelf", "objs": ["original-16"], "id": 27, "name": "shelf"}, {"text": "Shelf", "objs": ["original-15"], "id": 28, "name": "shelf"}, {"text": "Shelf", "objs": ["original-13"], "id": 29, "name": "shelf"}, {"text": "Vertical side panel", "objs": ["original-2"], "id": 30, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-9"], "id": 31, "name": "vertical_side_panel"}, {"text": "Leg", "objs": ["original-3"], "id": 32, "name": "leg"}, {"text": "Leg", "objs": ["original-10"], "id": 33, "name": "leg"}, {"text": "Leg", "objs": ["original-8"], "id": 34, "name": "leg"}, {"text": "Leg", "objs": ["original-1"], "id": 35, "name": "leg"}, {"text": "Bar Stretcher", "objs": ["original-6"], "id": 40, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-4"], "id": 41, "name": "bar_stretcher"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-24", "original-27"], "id": 52, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-25"], "id": 53, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-22"], "id": 54, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-23"], "id": 55, "name": "drawer_bottom"}, {"text": "Drawer side", "objs": ["original-26"], "id": 60, "name": "drawer_side"}], "id": 48, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-30", "original-29"], "id": 49, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-11"], "id": 50, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-12"], "id": 51, "name": "drawer_rails"}], "id": 42, "name": "drawer"}, {"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["original-19"], "id": 44, "name": "cabinet_door_surface"}], "id": 43, "name": "cabinet_door"}, {"text": "Tabletop Connector", "objs": ["original-5"], "id": 58, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-7"], "id": 59, "name": "tabletop_connector"}], "id": 9, "name": "drawer_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/27267/result_after_merging.json b/PartNetMobility/Table/27267/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9702ade94b0a54e6d1a5a6d4e9da9bc50b97e21
--- /dev/null
+++ b/PartNetMobility/Table/27267/result_after_merging.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "table", "ori_id": 0, "objs": ["original-14", "original-18", "original-17", "original-16", "original-15", "original-13", "original-2", "original-9", "original-3", "original-10", "original-8", "original-1", "original-6", "original-4", "original-24", "original-27", "original-25", "original-22", "original-23", "original-26", "original-30", "original-29", "original-11", "original-12", "original-19", "original-5", "original-7"], "children": [{"id": 1, "name": "regular_table", "ori_id": 1, "objs": ["original-14", "original-18", "original-17", "original-16", "original-15", "original-13", "original-2", "original-9", "original-3", "original-10", "original-8", "original-1", "original-6", "original-4", "original-24", "original-27", "original-25", "original-22", "original-23", "original-26", "original-30", "original-29", "original-11", "original-12", "original-19", "original-5", "original-7"], "children": [{"id": 2, "name": "tabletop", "ori_id": 2, "objs": ["original-14"], "children": [{"id": 3, "name": "tabletop_surface", "ori_id": 61, "objs": ["original-14"], "children": [{"id": 4, "ori_id": 62, "name": "board", "text": "board", "objs": ["original-14"]}], "text": "tabletop_surface"}], "text": "tabletop"}, {"id": 5, "name": "table_base", "ori_id": 3, "objs": ["original-18", "original-17", "original-16", "original-15", "original-13", "original-2", "original-9", "original-3", "original-10", "original-8", "original-1", "original-6", "original-4", "original-24", "original-27", "original-25", "original-22", "original-23", "original-26", "original-30", "original-29", "original-11", "original-12", "original-19", "original-5", "original-7"], "children": [{"id": 6, "name": "drawer_base", "ori_id": 9, "objs": ["original-18", "original-17", "original-16", "original-15", "original-13", "original-2", "original-9", "original-3", "original-10", "original-8", "original-1", "original-6", "original-4", "original-24", "original-27", "original-25", "original-22", "original-23", "original-26", "original-30", "original-29", "original-11", "original-12", "original-19", "original-5", "original-7"], "children": [{"id": 7, "ori_id": 25, "name": "shelf", "text": "shelf", "objs": ["original-18"]}, {"id": 8, "ori_id": 26, "name": "shelf", "text": "shelf", "objs": ["original-17"]}, {"id": 9, "ori_id": 27, "name": "shelf", "text": "shelf", "objs": ["original-16"]}, {"id": 10, "ori_id": 28, "name": "shelf", "text": "shelf", "objs": ["original-15"]}, {"id": 11, "ori_id": 29, "name": "shelf", "text": "shelf", "objs": ["original-13"]}, {"id": 12, "ori_id": 30, "name": "vertical_side_panel", "text": "vertical_side_panel", "objs": ["original-2"]}, {"id": 13, "ori_id": 31, "name": "vertical_side_panel", "text": "vertical_side_panel", "objs": ["original-9"]}, {"id": 14, "ori_id": 32, "name": "leg", "text": "leg", "objs": ["original-3"]}, {"id": 15, "ori_id": 33, "name": "leg", "text": "leg", "objs": ["original-10"]}, {"id": 16, "ori_id": 34, "name": "leg", "text": "leg", "objs": ["original-8"]}, {"id": 17, "ori_id": 35, "name": "leg", "text": "leg", "objs": ["original-1"]}, {"id": 18, "ori_id": 40, "name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-6"]}, {"id": 19, "ori_id": 41, "name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-4"]}, {"id": 20, "name": "drawer", "ori_id": 42, "objs": ["original-24", "original-27", "original-25", "original-22", "original-23", "original-26", "original-30", "original-29", "original-11", "original-12"], "children": [{"id": 21, "name": "drawer_box", "ori_id": 48, "objs": ["original-24", "original-27", "original-25", "original-22", "original-23", "original-26"], "children": [{"id": 22, "ori_id": 52, "name": "drawer_front", "text": "drawer_front", "objs": ["original-24", "original-27"]}, {"id": 23, "ori_id": 53, "name": "drawer_side", "text": "drawer_side", "objs": ["original-25"]}, {"id": 24, "ori_id": 54, "name": "drawer_back", "text": "drawer_back", "objs": ["original-22"]}, {"id": 25, "ori_id": 55, "name": "drawer_bottom", "text": "drawer_bottom", "objs": ["original-23"]}, {"id": 26, "ori_id": 60, "name": "drawer_side", "text": "drawer_side", "objs": ["original-26"]}], "text": "drawer_box"}, {"id": 27, "ori_id": 49, "name": "handle", "text": "handle", "objs": ["original-30", "original-29"]}], "text": "drawer"}, {"id": 28, "name": "cabinet_door", "ori_id": 43, "objs": ["original-19"], "children": [{"id": 29, "ori_id": 44, "name": "cabinet_door_surface", "text": "cabinet_door_surface", "objs": ["original-19"]}], "text": "cabinet_door"}, {"id": 30, "ori_id": 58, "name": "tabletop_connector", "text": "tabletop_connector", "objs": ["original-5"]}, {"id": 31, "ori_id": 59, "name": "tabletop_connector", "text": "tabletop_connector", "objs": ["original-7"]}], "text": "drawer_base"}], "text": "table_base"}], "text": "regular_table"}], "text": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/27267/semantics.txt b/PartNetMobility/Table/27267/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..87f5f756434cc9b755fce089fff2ec9d5ed29058
--- /dev/null
+++ b/PartNetMobility/Table/27267/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge door
+link_1 heavy furniture_body
+link_2 slider drawer
diff --git a/PartNetMobility/Table/27267/tree_hier.html b/PartNetMobility/Table/27267/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..cf23ad10fe5e39a95445ee739f2bf9bdb53b670e
--- /dev/null
+++ b/PartNetMobility/Table/27267/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
61 tabletop_surface Tabletop surface
9 drawer_base Drawer Base
62 board Board
25 shelf Shelf
26 shelf Shelf
27 shelf Shelf
28 shelf Shelf
29 shelf Shelf
30 vertical_side_panel Vertical side panel
31 vertical_side_panel Vertical side panel
32 leg Leg
33 leg Leg
34 leg Leg
35 leg Leg
40 bar_stretcher Bar Stretcher
41 bar_stretcher Bar Stretcher
42 drawer Drawer
43 cabinet_door Cabinet door
58 tabletop_connector Tabletop Connector
59 tabletop_connector Tabletop Connector
48 drawer_box Drawer box
49 handle Handle
50 drawer_rails Drawer rails
51 drawer_rails Drawer rails
44 cabinet_door_surface Cabinet door surface
52 drawer_front Drawer front
53 drawer_side Drawer side
54 drawer_back Drawer back
55 drawer_bottom Drawer bottom
60 drawer_side Drawer side
\ No newline at end of file
diff --git a/PartNetMobility/Table/27267/tree_hier_after_merging.html b/PartNetMobility/Table/27267/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..7c95b6cb391685b6d90643fa8895db3154e03bd5
--- /dev/null
+++ b/PartNetMobility/Table/27267/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
6 drawer_base drawer_base
4 board board
7 shelf shelf
8 shelf shelf
9 shelf shelf
10 shelf shelf
11 shelf shelf
12 vertical_side_panel vertical_side_panel
13 vertical_side_panel vertical_side_panel
14 leg leg
15 leg leg
16 leg leg
17 leg leg
18 bar_stretcher bar_stretcher
19 bar_stretcher bar_stretcher
20 drawer drawer
28 cabinet_door cabinet_door
30 tabletop_connector tabletop_connector
31 tabletop_connector tabletop_connector
21 drawer_box drawer_box
27 handle handle
29 cabinet_door_surface cabinet_door_surface
22 drawer_front drawer_front
23 drawer_side drawer_side
24 drawer_back drawer_back
25 drawer_bottom drawer_bottom
26 drawer_side drawer_side
\ No newline at end of file
diff --git a/PartNetMobility/Table/27619/bounding_box.json b/PartNetMobility/Table/27619/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..522ce666229b642f6af53d49429e366f69c013d2
--- /dev/null
+++ b/PartNetMobility/Table/27619/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.64186, -0.393399, -0.643161], "max": [0.672786, 0.145943, 0.658839]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/27619/meta.json b/PartNetMobility/Table/27619/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e65b1e4cff9259225670d5dc32d0b905ad0de8cf
--- /dev/null
+++ b/PartNetMobility/Table/27619/meta.json
@@ -0,0 +1 @@
+{"model_id": "b052445a4de3c06a10c0c01485abc473", "anno_id": "27619", "user_id": "shape16", "time_in_sec": "193", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/27619/mobility.urdf b/PartNetMobility/Table/27619/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..62406c5f8be4685ad13788a207178109849f59e3
--- /dev/null
+++ b/PartNetMobility/Table/27619/mobility.urdf
@@ -0,0 +1,509 @@
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diff --git a/PartNetMobility/Table/27619/mobility_v2.json b/PartNetMobility/Table/27619/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3065d449e12a5b494136e6697ebe5de9ab7c8c48
--- /dev/null
+++ b/PartNetMobility/Table/27619/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"slider","name":"drawer_box","parts":[{"id":28,"name":"drawer_front","children":[]},{"id":29,"name":"drawer_side","children":[]},{"id":30,"name":"drawer_side","children":[]},{"id":31,"name":"drawer_back","children":[]},{"id":32,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":-0.26,"b":0.2400000000000002,"noLimit":false}}},{"id":1,"parent":2,"joint":"slider","name":"drawer_box","parts":[{"id":22,"name":"drawer_front","children":[]},{"id":23,"name":"drawer_side","children":[]},{"id":24,"name":"drawer_side","children":[]},{"id":25,"name":"drawer_back","children":[]},{"id":26,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":-0.252,"b":0.24800000000000022,"noLimit":false}}},{"id":2,"parent":-1,"joint":"heavy","name":"tabletop","parts":[{"id":39,"name":"board","children":[]},{"id":35,"name":"bar","children":[]},{"id":36,"name":"bar","children":[]},{"id":37,"name":"bar","children":[]},{"id":38,"name":"bar","children":[]},{"id":6,"name":"back_panel","children":[]},{"id":7,"name":"vertical_side_panel","children":[]},{"id":8,"name":"vertical_side_panel","children":[]},{"id":9,"name":"leg","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"bar_stretcher","children":[]},{"id":14,"name":"bar_stretcher","children":[]},{"id":15,"name":"bar_stretcher","children":[]},{"id":16,"name":"bar_stretcher","children":[]},{"id":17,"name":"bar_stretcher","children":[]},{"id":18,"name":"bar_stretcher","children":[]},{"id":19,"name":"bar_stretcher","children":[]},{"id":20,"name":"bar_stretcher","children":[]},{"id":40,"name":"bar_stretcher","children":[]},{"id":41,"name":"bar_stretcher","children":[]},{"id":42,"name":"bar_stretcher","children":[]},{"id":43,"name":"bar_stretcher","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/27619/result.json b/PartNetMobility/Table/27619/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d15b916529749b9a784ef33725401ee32d04bcf5
--- /dev/null
+++ b/PartNetMobility/Table/27619/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-44"], "id": 39, "name": "board"}], "id": 33, "name": "tabletop_surface"}, {"text": "Tabletop frame", "children": [{"text": "Bar", "objs": ["original-1"], "id": 35, "name": "bar"}, {"text": "Bar", "objs": ["original-34"], "id": 36, "name": "bar"}, {"text": "Bar", "objs": ["original-17"], "id": 37, "name": "bar"}, {"text": "Bar", "objs": ["original-22"], "id": 38, "name": "bar"}], "id": 34, "name": "tabletop_frame"}], "id": 2, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-8", "original-4"], "id": 28, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-6"], "id": 29, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-5"], "id": 30, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-7"], "id": 31, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-9"], "id": 32, "name": "drawer_bottom"}], "id": 27, "name": "drawer_box"}], "id": 4, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-11", "original-15"], "id": 22, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-12"], "id": 23, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-13"], "id": 24, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-14"], "id": 25, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-16"], "id": 26, "name": "drawer_bottom"}], "id": 21, "name": "drawer_box"}], "id": 5, "name": "drawer"}, {"text": "Back panel", "objs": ["original-43"], "id": 6, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-36"], "id": 7, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-24"], "id": 8, "name": "vertical_side_panel"}, {"text": "Leg", "objs": ["original-26", "original-27"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["original-29", "original-30"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-38", "original-39"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-41", "original-42"], "id": 12, "name": "leg"}, {"text": "Bar Stretcher", "objs": ["original-47"], "id": 13, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-46"], "id": 14, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-18"], "id": 15, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-48"], "id": 16, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-33"], "id": 17, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-35"], "id": 18, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-45"], "id": 19, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-2"], "id": 20, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-23"], "id": 40, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-21"], "id": 41, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-20"], "id": 42, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-32"], "id": 43, "name": "bar_stretcher"}], "id": 3, "name": "drawer_base"}], "id": 1, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/27619/result_after_merging.json b/PartNetMobility/Table/27619/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..706c5fabfdec700fc02445fb1711e309e423b2a4
--- /dev/null
+++ b/PartNetMobility/Table/27619/result_after_merging.json
@@ -0,0 +1 @@
+[{"id": 0, "ori_id": 0, "name": "table", "text": "table", "objs": ["original-44", "original-1", "original-34", "original-17", "original-22", "original-8", "original-4", "original-6", "original-5", "original-7", "original-9", "original-11", "original-15", "original-12", "original-13", "original-14", "original-16", "original-43", "original-36", "original-24", "original-26", "original-27", "original-29", "original-30", "original-38", "original-39", "original-41", "original-42", "original-47", "original-46", "original-18", "original-48", "original-33", "original-35", "original-45", "original-2", "original-23", "original-21", "original-20", "original-32"], "children": [{"id": 1, "ori_id": 1, "name": "regular_table", "text": "regular_table", "objs": ["original-44", "original-1", "original-34", "original-17", "original-22", "original-8", "original-4", "original-6", "original-5", "original-7", "original-9", "original-11", "original-15", "original-12", "original-13", "original-14", 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"name": "bar", "text": "bar", "objs": ["original-34"]}, {"id": 8, "ori_id": 37, "name": "bar", "text": "bar", "objs": ["original-17"]}, {"id": 9, "ori_id": 38, "name": "bar", "text": "bar", "objs": ["original-22"]}]}]}, {"id": 10, "ori_id": 3, "name": "drawer_base", "text": "drawer_base", "objs": ["original-8", "original-4", "original-6", "original-5", "original-7", "original-9", "original-11", "original-15", "original-12", "original-13", "original-14", "original-16", "original-43", "original-36", "original-24", "original-26", "original-27", "original-29", "original-30", "original-38", "original-39", "original-41", "original-42", "original-47", "original-46", "original-18", "original-48", "original-33", "original-35", "original-45", "original-2", "original-23", "original-21", "original-20", "original-32"], "children": [{"id": 11, "ori_id": 4, "name": "drawer", "text": "drawer", "objs": ["original-8", "original-4", "original-6", "original-5", "original-7", "original-9"], "children": [{"id": 12, "ori_id": 27, "name": "drawer_box", "text": "drawer_box", "objs": ["original-8", "original-4", "original-6", "original-5", "original-7", "original-9"], "children": [{"id": 13, "ori_id": 28, "name": "drawer_front", "text": "drawer_front", "objs": ["original-8", "original-4"]}, {"id": 14, "ori_id": 29, "name": "drawer_side", "text": "drawer_side", "objs": ["original-6"]}, {"id": 15, "ori_id": 30, "name": "drawer_side", "text": "drawer_side", "objs": ["original-5"]}, {"id": 16, "ori_id": 31, "name": "drawer_back", "text": "drawer_back", "objs": ["original-7"]}, {"id": 17, "ori_id": 32, "name": "drawer_bottom", "text": "drawer_bottom", "objs": ["original-9"]}]}]}, {"id": 18, "ori_id": 5, "name": "drawer", "text": "drawer", "objs": ["original-11", "original-15", "original-12", "original-13", "original-14", "original-16"], "children": [{"id": 19, "ori_id": 21, "name": "drawer_box", "text": "drawer_box", "objs": ["original-11", "original-15", "original-12", "original-13", "original-14", "original-16"], "children": [{"id": 20, "ori_id": 22, "name": "drawer_front", "text": "drawer_front", "objs": ["original-11", "original-15"]}, {"id": 21, "ori_id": 23, "name": "drawer_side", "text": "drawer_side", "objs": ["original-12"]}, {"id": 22, "ori_id": 24, "name": "drawer_side", "text": "drawer_side", "objs": ["original-13"]}, {"id": 23, "ori_id": 25, "name": "drawer_back", "text": "drawer_back", "objs": ["original-14"]}, {"id": 24, "ori_id": 26, "name": "drawer_bottom", "text": "drawer_bottom", "objs": ["original-16"]}]}]}, {"id": 25, "ori_id": 6, "name": "back_panel", "text": "back_panel", "objs": ["original-43"]}, {"id": 26, "ori_id": 7, "name": "vertical_side_panel", "text": "vertical_side_panel", "objs": ["original-36"]}, {"id": 27, "ori_id": 8, "name": "vertical_side_panel", "text": "vertical_side_panel", "objs": ["original-24"]}, {"id": 28, "ori_id": 9, "name": "leg", "text": "leg", "objs": ["original-26", "original-27"]}, {"id": 29, "ori_id": 10, "name": "leg", "text": "leg", "objs": ["original-29", "original-30"]}, {"id": 30, "ori_id": 11, "name": "leg", "text": "leg", "objs": ["original-38", "original-39"]}, {"id": 31, "ori_id": 12, "name": "leg", "text": "leg", "objs": ["original-41", "original-42"]}, {"id": 32, "ori_id": 13, "name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-47"]}, {"id": 33, "ori_id": 14, "name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-46"]}, {"id": 34, "ori_id": 15, "name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-18"]}, {"id": 35, "ori_id": 16, "name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-48"]}, {"id": 36, "ori_id": 17, "name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-33"]}, {"id": 37, "ori_id": 18, "name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-35"]}, {"id": 38, "ori_id": 19, "name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-45"]}, {"id": 39, "ori_id": 20, "name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-2"]}, {"id": 40, "ori_id": 40, "name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-23"]}, {"id": 41, "ori_id": 41, "name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-21"]}, {"id": 42, "ori_id": 42, "name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-20"]}, {"id": 43, "ori_id": 43, "name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-32"]}]}]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/27619/semantics.txt b/PartNetMobility/Table/27619/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d9ab475d8182a0ea8f8bb40bec8f63c07a539f15
--- /dev/null
+++ b/PartNetMobility/Table/27619/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 heavy furniture_body
diff --git a/PartNetMobility/Table/27619/tree_hier.html b/PartNetMobility/Table/27619/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..1d6f1f6cd7662321b4bcbfb177ac0620c48d016f
--- /dev/null
+++ b/PartNetMobility/Table/27619/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 desk Desk
2 tabletop Tabletop
3 drawer_base Drawer Base
33 tabletop_surface Tabletop surface
34 tabletop_frame Tabletop frame
4 drawer Drawer
5 drawer Drawer
6 back_panel Back panel
7 vertical_side_panel Vertical side panel
8 vertical_side_panel Vertical side panel
9 leg Leg
10 leg Leg
11 leg Leg
12 leg Leg
13 bar_stretcher Bar Stretcher
14 bar_stretcher Bar Stretcher
15 bar_stretcher Bar Stretcher
16 bar_stretcher Bar Stretcher
17 bar_stretcher Bar Stretcher
18 bar_stretcher Bar Stretcher
19 bar_stretcher Bar Stretcher
20 bar_stretcher Bar Stretcher
40 bar_stretcher Bar Stretcher
41 bar_stretcher Bar Stretcher
42 bar_stretcher Bar Stretcher
43 bar_stretcher Bar Stretcher
39 board Board
35 bar Bar
36 bar Bar
37 bar Bar
38 bar Bar
27 drawer_box Drawer box
21 drawer_box Drawer box
28 drawer_front Drawer front
29 drawer_side Drawer side
30 drawer_side Drawer side
31 drawer_back Drawer back
32 drawer_bottom Drawer bottom
22 drawer_front Drawer front
23 drawer_side Drawer side
24 drawer_side Drawer side
25 drawer_back Drawer back
26 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/27619/tree_hier_after_merging.html b/PartNetMobility/Table/27619/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..37a69a4d82335e35f635f146c2cae20750ef333b
--- /dev/null
+++ b/PartNetMobility/Table/27619/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
10 drawer_base drawer_base
3 tabletop_surface tabletop_surface
5 tabletop_frame tabletop_frame
11 drawer drawer
18 drawer drawer
25 back_panel back_panel
26 vertical_side_panel vertical_side_panel
27 vertical_side_panel vertical_side_panel
28 leg leg
29 leg leg
30 leg leg
31 leg leg
32 bar_stretcher bar_stretcher
33 bar_stretcher bar_stretcher
34 bar_stretcher bar_stretcher
35 bar_stretcher bar_stretcher
36 bar_stretcher bar_stretcher
37 bar_stretcher bar_stretcher
38 bar_stretcher bar_stretcher
39 bar_stretcher bar_stretcher
40 bar_stretcher bar_stretcher
41 bar_stretcher bar_stretcher
42 bar_stretcher bar_stretcher
43 bar_stretcher bar_stretcher
4 board board
6 bar bar
7 bar bar
8 bar bar
9 bar bar
12 drawer_box drawer_box
19 drawer_box drawer_box
13 drawer_front drawer_front
14 drawer_side drawer_side
15 drawer_side drawer_side
16 drawer_back drawer_back
17 drawer_bottom drawer_bottom
20 drawer_front drawer_front
21 drawer_side drawer_side
22 drawer_side drawer_side
23 drawer_back drawer_back
24 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/28164/bounding_box.json b/PartNetMobility/Table/28164/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..a09674ed04cd6d3da0a194e2ccbc42a6a1c95009
--- /dev/null
+++ b/PartNetMobility/Table/28164/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.812693, -0.625714, -0.320028], "max": [0.737841, 0.268246, 0.540481]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/28164/meta.json b/PartNetMobility/Table/28164/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..102ed43f2877d8cd380ad2074965e5f88ad7d2a6
--- /dev/null
+++ b/PartNetMobility/Table/28164/meta.json
@@ -0,0 +1 @@
+{"model_id": "bc4ba0bd86545f3fcc749dbc8c455b3f", "anno_id": "28164", "user_id": "yz-majinghua", "time_in_sec": "346", "version": "4", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/28164/mobility.urdf b/PartNetMobility/Table/28164/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a5ad028fe2bee87e9bae0070d45b33b9e98b5f1b
--- /dev/null
+++ b/PartNetMobility/Table/28164/mobility.urdf
@@ -0,0 +1,521 @@
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diff --git a/PartNetMobility/Table/28164/mobility_v2.json b/PartNetMobility/Table/28164/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..30898c9e19badf5b3d04fc42ccb23db40d80451d
--- /dev/null
+++ b/PartNetMobility/Table/28164/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"slider","name":"drawer","parts":[{"id":28,"name":"drawer_front","children":[]},{"id":29,"name":"drawer_side","children":[]},{"id":30,"name":"drawer_side","children":[]},{"id":31,"name":"drawer_back","children":[]},{"id":32,"name":"drawer_bottom","children":[]},{"id":27,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.3839999999999999,"noLimit":false}}},{"id":1,"parent":2,"joint":"slider","name":"drawer","parts":[{"id":21,"name":"drawer_front","children":[]},{"id":22,"name":"drawer_side","children":[]},{"id":23,"name":"drawer_side","children":[]},{"id":24,"name":"drawer_back","children":[]},{"id":25,"name":"drawer_bottom","children":[]},{"id":20,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":-0.28800000000000003,"b":0.08800000000000008,"noLimit":false}}},{"id":2,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":34,"name":"board","children":[]},{"id":8,"name":"leg","children":[]},{"id":9,"name":"leg","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"shelf","children":[]},{"id":13,"name":"vertical_side_panel","children":[]},{"id":14,"name":"vertical_side_panel","children":[]},{"id":15,"name":"bar_stretcher","children":[]},{"id":16,"name":"bar_stretcher","children":[]},{"id":35,"name":"back_panel","children":[]},{"id":37,"name":"vertical_front_panel","children":[]},{"id":38,"name":"tabletop_connector","children":[]},{"id":39,"name":"bottom_panel","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/28164/result.json b/PartNetMobility/Table/28164/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..08323e77a01526629f79683bd7db361ba2391219
--- /dev/null
+++ b/PartNetMobility/Table/28164/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-5"], "id": 34, "name": "board"}], "id": 33, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Leg", "objs": ["original-1"], "id": 8, "name": "leg"}, {"text": "Leg", "objs": ["original-3"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["original-4"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-2"], "id": 11, "name": "leg"}, {"text": "Shelf", "objs": ["original-12"], "id": 12, "name": "shelf"}, {"text": "Vertical side panel", "objs": ["original-7"], "id": 13, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-6"], "id": 14, "name": "vertical_side_panel"}, {"text": "Bar Stretcher", "objs": ["original-42"], "id": 15, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-43"], "id": 16, "name": "bar_stretcher"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-29"], "id": 28, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-31"], "id": 29, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-32"], "id": 30, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-30"], "id": 31, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-33"], "id": 32, "name": "drawer_bottom"}], "id": 26, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-34"], "id": 27, "name": "handle"}], "id": 17, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-36"], "id": 21, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-39"], "id": 22, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-38"], "id": 23, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-37"], "id": 24, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-40"], "id": 25, "name": "drawer_bottom"}], "id": 19, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-41"], "id": 20, "name": "handle"}], "id": 18, "name": "drawer"}, {"text": "Back panel", "objs": ["original-11"], "id": 35, "name": "back_panel"}, {"text": "Vertical Front Panel", "objs": ["original-13"], "id": 37, "name": "vertical_front_panel"}, {"text": "Tabletop Connector", "objs": ["original-9", "original-27", "original-26", "original-23", "original-14", "original-21", "original-18", "original-16", "original-15", "original-22", "original-20", "original-17", "original-19", "original-24"], "id": 38, "name": "tabletop_connector"}, {"text": "Bottom panel", "objs": ["original-10", "original-8", "original-25"], "id": 39, "name": "bottom_panel"}], "id": 3, "name": "drawer_base"}], "id": 1, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/28164/result_after_merging.json b/PartNetMobility/Table/28164/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf7b1a144db4c7a6bc03468f4d4a4e1a90106859
--- /dev/null
+++ b/PartNetMobility/Table/28164/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["original-5", "original-1", "original-3", "original-4", "original-2", "original-12", "original-7", "original-6", "original-42", "original-43", "original-29", "original-31", "original-32", "original-30", "original-33", "original-34", "original-36", "original-39", "original-38", "original-37", "original-40", "original-41", "original-11", "original-13", "original-9", "original-27", "original-26", "original-23", "original-14", "original-21", "original-18", "original-16", "original-15", "original-22", "original-20", "original-17", "original-19", "original-24", "original-10", "original-8", "original-25"], "ori_id": 0, "children": [{"objs": ["original-5", "original-1", "original-3", "original-4", "original-2", "original-12", "original-7", "original-6", "original-42", "original-43", "original-29", "original-31", "original-32", "original-30", "original-33", "original-34", "original-36", "original-39", "original-38", "original-37", "original-40", "original-41", "original-11", "original-13", "original-9", "original-27", "original-26", "original-23", "original-14", "original-21", "original-18", "original-16", "original-15", "original-22", "original-20", "original-17", "original-19", "original-24", "original-10", "original-8", "original-25"], "ori_id": 1, "children": [{"objs": ["original-5"], "ori_id": 2, "children": [{"objs": ["original-5"], "ori_id": 33, "children": [{"id": 4, "ori_id": 34, "objs": ["original-5"], "text": "board", "name": "board"}], "name": "tabletop_surface", "id": 3, "text": "tabletop_surface"}], "name": "tabletop", "id": 2, "text": "tabletop"}, {"objs": ["original-1", "original-3", "original-4", "original-2", "original-12", "original-7", "original-6", "original-42", "original-43", "original-29", "original-31", "original-32", "original-30", "original-33", "original-34", "original-36", "original-39", "original-38", "original-37", "original-40", "original-41", "original-11", "original-13", "original-9", "original-27", "original-26", "original-23", "original-14", "original-21", "original-18", "original-16", "original-15", "original-22", "original-20", "original-17", "original-19", "original-24", "original-10", "original-8", "original-25"], "ori_id": 3, "children": [{"id": 6, "ori_id": 8, "objs": ["original-1"], "text": "leg", "name": "leg"}, {"id": 7, "ori_id": 9, "objs": ["original-3"], "text": "leg", "name": "leg"}, {"id": 8, "ori_id": 10, "objs": ["original-4"], "text": "leg", "name": "leg"}, {"id": 9, "ori_id": 11, "objs": ["original-2"], "text": "leg", "name": "leg"}, {"id": 10, "ori_id": 12, "objs": ["original-12"], "text": "shelf", "name": "shelf"}, {"id": 11, "ori_id": 13, "objs": ["original-7"], "text": "vertical_side_panel", "name": "vertical_side_panel"}, {"id": 12, "ori_id": 14, "objs": ["original-6"], "text": "vertical_side_panel", "name": "vertical_side_panel"}, {"id": 13, "ori_id": 15, "objs": ["original-42"], "text": "bar_stretcher", "name": "bar_stretcher"}, {"id": 14, "ori_id": 16, "objs": ["original-43"], "text": "bar_stretcher", "name": "bar_stretcher"}, {"objs": ["original-29", "original-31", "original-32", "original-30", "original-33", "original-34"], "ori_id": 17, "children": [{"objs": ["original-29", "original-31", "original-32", "original-30", "original-33"], "ori_id": 26, "children": [{"id": 17, "ori_id": 28, "objs": ["original-29"], "text": "drawer_front", "name": "drawer_front"}, {"id": 18, "ori_id": 29, "objs": ["original-31"], "text": "drawer_side", "name": "drawer_side"}, {"id": 19, "ori_id": 30, "objs": ["original-32"], "text": "drawer_side", "name": "drawer_side"}, {"id": 20, "ori_id": 31, "objs": ["original-30"], "text": "drawer_back", "name": "drawer_back"}, {"id": 21, "ori_id": 32, "objs": ["original-33"], "text": "drawer_bottom", "name": "drawer_bottom"}], "name": "drawer_box", "id": 16, "text": "drawer_box"}, {"id": 22, "ori_id": 27, "objs": ["original-34"], "text": "handle", "name": "handle"}], "name": "drawer", "id": 15, "text": "drawer"}, {"objs": ["original-36", "original-39", "original-38", "original-37", "original-40", "original-41"], "ori_id": 18, "children": [{"objs": ["original-36", "original-39", "original-38", "original-37", "original-40"], "ori_id": 19, "children": [{"id": 25, "ori_id": 21, "objs": ["original-36"], "text": "drawer_front", "name": "drawer_front"}, {"id": 26, "ori_id": 22, "objs": ["original-39"], "text": "drawer_side", "name": "drawer_side"}, {"id": 27, "ori_id": 23, "objs": ["original-38"], "text": "drawer_side", "name": "drawer_side"}, {"id": 28, "ori_id": 24, "objs": ["original-37"], "text": "drawer_back", "name": "drawer_back"}, {"id": 29, "ori_id": 25, "objs": ["original-40"], "text": "drawer_bottom", "name": "drawer_bottom"}], "name": "drawer_box", "id": 24, "text": "drawer_box"}, {"id": 30, "ori_id": 20, "objs": ["original-41"], "text": "handle", "name": "handle"}], "name": "drawer", "id": 23, "text": "drawer"}, {"id": 31, "ori_id": 35, "objs": ["original-11"], "text": "back_panel", "name": "back_panel"}, {"id": 32, "ori_id": 37, "objs": ["original-13"], "text": "vertical_front_panel", "name": "vertical_front_panel"}, {"id": 33, "ori_id": 38, "objs": ["original-9", "original-27", "original-26", "original-23", "original-14", "original-21", "original-18", "original-16", "original-15", "original-22", "original-20", "original-17", "original-19", "original-24"], "text": "tabletop_connector", "name": "tabletop_connector"}, {"id": 34, "ori_id": 39, "objs": ["original-10", "original-8", "original-25"], "text": "bottom_panel", "name": "bottom_panel"}], "name": "drawer_base", "id": 5, "text": "drawer_base"}], "name": "regular_table", "id": 1, "text": "regular_table"}], "name": "table", "id": 0, "text": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/28164/semantics.txt b/PartNetMobility/Table/28164/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d9ab475d8182a0ea8f8bb40bec8f63c07a539f15
--- /dev/null
+++ b/PartNetMobility/Table/28164/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 heavy furniture_body
diff --git a/PartNetMobility/Table/28164/tree_hier.html b/PartNetMobility/Table/28164/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..2d417846f8a121ab192c983570fa139189ca2e32
--- /dev/null
+++ b/PartNetMobility/Table/28164/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 desk Desk
2 tabletop Tabletop
3 drawer_base Drawer Base
33 tabletop_surface Tabletop surface
8 leg Leg
9 leg Leg
10 leg Leg
11 leg Leg
12 shelf Shelf
13 vertical_side_panel Vertical side panel
14 vertical_side_panel Vertical side panel
15 bar_stretcher Bar Stretcher
16 bar_stretcher Bar Stretcher
17 drawer Drawer
18 drawer Drawer
35 back_panel Back panel
37 vertical_front_panel Vertical Front Panel
38 tabletop_connector Tabletop Connector
39 bottom_panel Bottom panel
34 board Board
26 drawer_box Drawer box
27 handle Handle
19 drawer_box Drawer box
20 handle Handle
28 drawer_front Drawer front
29 drawer_side Drawer side
30 drawer_side Drawer side
31 drawer_back Drawer back
32 drawer_bottom Drawer bottom
21 drawer_front Drawer front
22 drawer_side Drawer side
23 drawer_side Drawer side
24 drawer_back Drawer back
25 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/28164/tree_hier_after_merging.html b/PartNetMobility/Table/28164/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..1d99b126e04e2a53ac81f5f89a23661799f4ff6d
--- /dev/null
+++ b/PartNetMobility/Table/28164/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 drawer_base drawer_base
3 tabletop_surface tabletop_surface
6 leg leg
7 leg leg
8 leg leg
9 leg leg
10 shelf shelf
11 vertical_side_panel vertical_side_panel
12 vertical_side_panel vertical_side_panel
13 bar_stretcher bar_stretcher
14 bar_stretcher bar_stretcher
15 drawer drawer
23 drawer drawer
31 back_panel back_panel
32 vertical_front_panel vertical_front_panel
33 tabletop_connector tabletop_connector
34 bottom_panel bottom_panel
4 board board
16 drawer_box drawer_box
22 handle handle
24 drawer_box drawer_box
30 handle handle
17 drawer_front drawer_front
18 drawer_side drawer_side
19 drawer_side drawer_side
20 drawer_back drawer_back
21 drawer_bottom drawer_bottom
25 drawer_front drawer_front
26 drawer_side drawer_side
27 drawer_side drawer_side
28 drawer_back drawer_back
29 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/28668/bounding_box.json b/PartNetMobility/Table/28668/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..85d048e80ac7afeb49fa52b3501df2bcaf4299e4
--- /dev/null
+++ b/PartNetMobility/Table/28668/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.460902, -0.867974, -0.4582], "max": [0.49637, 0.149122, 0.533271]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/28668/meta.json b/PartNetMobility/Table/28668/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..154589260f905ed4e473e9b18614f3276b329e43
--- /dev/null
+++ b/PartNetMobility/Table/28668/meta.json
@@ -0,0 +1 @@
+{"model_id": "c9857deb88989a67b5851007eadc6f74", "anno_id": "28668", "user_id": "shape16", "time_in_sec": "292", "version": "3", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/28668/mobility.urdf b/PartNetMobility/Table/28668/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fc08d0b8f606860f42e931f1ab7899be43931227
--- /dev/null
+++ b/PartNetMobility/Table/28668/mobility.urdf
@@ -0,0 +1,680 @@
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diff --git a/PartNetMobility/Table/28668/mobility_v2.json b/PartNetMobility/Table/28668/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..9805cb90444f8013b63be3ba30adb9b7e7e9cda5
--- /dev/null
+++ b/PartNetMobility/Table/28668/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"drawer","parts":[{"id":17,"name":"drawer_front","children":[]},{"id":18,"name":"drawer_side","children":[]},{"id":19,"name":"drawer_side","children":[]},{"id":20,"name":"drawer_back","children":[]},{"id":21,"name":"drawer_bottom","children":[]},{"id":16,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":-0.17599999999999993,"b":0.4119999999999999,"noLimit":false}}},{"id":1,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":23,"name":"board","children":[]},{"id":5,"name":"back_panel","children":[]},{"id":6,"name":"vertical_side_panel","children":[]},{"id":7,"name":"vertical_side_panel","children":[]},{"id":8,"name":"vertical_front_panel","children":[]},{"id":9,"name":"leg","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"bar_stretcher","children":[]},{"id":14,"name":"bar_stretcher","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/28668/result.json b/PartNetMobility/Table/28668/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f38d580de5561c27c7190ba3ad4eec2446c0f32f
--- /dev/null
+++ b/PartNetMobility/Table/28668/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-19"], "id": 23, "name": "board"}], "id": 22, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-12", "original-5", "original-10", "original-11", "original-9", "original-8"], "id": 17, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-2"], "id": 18, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-6"], "id": 19, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-15", "original-14", "original-16", "original-17", "original-18"], "id": 20, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-4"], "id": 21, "name": "drawer_bottom"}], "id": 15, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-3"], "id": 16, "name": "handle"}], "id": 4, "name": "drawer"}, {"text": "Back panel", "objs": ["original-57", "original-53", "original-51", "original-52", "original-54", "original-56"], "id": 5, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-38", "original-35", "original-36", "original-33", "original-34", "original-37", "original-39"], "id": 6, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-31", "original-30", "original-28", "original-27", "original-25", "original-26", "original-29"], "id": 7, "name": "vertical_side_panel"}, {"text": "Vertical Front Panel", "objs": ["original-59", "original-60", "original-61", "original-64", "original-62", "original-63", "original-65"], "id": 8, "name": "vertical_front_panel"}, {"text": "Leg", "objs": ["original-20"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["original-23"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-22"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-21"], "id": 12, "name": "leg"}, {"text": "Bar Stretcher", "objs": ["original-47", "original-48", "original-45", "original-46"], "id": 13, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-49", "original-43", "original-42", "original-41"], "id": 14, "name": "bar_stretcher"}], "id": 3, "name": "drawer_base"}], "id": 1, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/28668/result_after_merging.json b/PartNetMobility/Table/28668/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..547dee434afbfb967f5bd01849a0fc18772337e2
--- /dev/null
+++ b/PartNetMobility/Table/28668/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["original-19", "original-12", "original-5", "original-10", "original-11", "original-9", "original-8", "original-2", "original-6", "original-15", "original-14", "original-16", "original-17", "original-18", "original-4", "original-3", "original-57", "original-53", "original-51", "original-52", "original-54", "original-56", "original-38", "original-35", "original-36", "original-33", "original-34", "original-37", "original-39", "original-31", "original-30", "original-28", "original-27", "original-25", "original-26", "original-29", "original-59", "original-60", "original-61", "original-64", "original-62", "original-63", "original-65", "original-20", "original-23", "original-22", "original-21", "original-47", "original-48", "original-45", "original-46", "original-49", "original-43", "original-42", "original-41"], "children": [{"objs": ["original-19", "original-12", "original-5", "original-10", "original-11", "original-9", "original-8", "original-2", "original-6", "original-15", 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{"objs": ["original-23"], "name": "leg", "text": "leg", "id": 19, "ori_id": 10}, {"objs": ["original-22"], "name": "leg", "text": "leg", "id": 20, "ori_id": 11}, {"objs": ["original-21"], "name": "leg", "text": "leg", "id": 21, "ori_id": 12}, {"objs": ["original-47", "original-48", "original-45", "original-46"], "name": "bar_stretcher", "text": "bar_stretcher", "id": 22, "ori_id": 13}, {"objs": ["original-49", "original-43", "original-42", "original-41"], "name": "bar_stretcher", "text": "bar_stretcher", "id": 23, "ori_id": 14}], "text": "drawer_base", "name": "drawer_base", "id": 5, "ori_id": 3}], "text": "regular_table", "name": "regular_table", "id": 1, "ori_id": 1}], "text": "table", "name": "table", "id": 0, "ori_id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/28668/semantics.txt b/PartNetMobility/Table/28668/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e633624fa79600e01561864dbeb1d30368693f9a
--- /dev/null
+++ b/PartNetMobility/Table/28668/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider drawer
+link_1 heavy furniture_body
diff --git a/PartNetMobility/Table/28668/tree_hier.html b/PartNetMobility/Table/28668/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..0c14ec854643b1789c6b797fb7c89338d2ed18d9
--- /dev/null
+++ b/PartNetMobility/Table/28668/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 desk Desk
2 tabletop Tabletop
3 drawer_base Drawer Base
22 tabletop_surface Tabletop surface
4 drawer Drawer
5 back_panel Back panel
6 vertical_side_panel Vertical side panel
7 vertical_side_panel Vertical side panel
8 vertical_front_panel Vertical Front Panel
9 leg Leg
10 leg Leg
11 leg Leg
12 leg Leg
13 bar_stretcher Bar Stretcher
14 bar_stretcher Bar Stretcher
23 board Board
15 drawer_box Drawer box
16 handle Handle
17 drawer_front Drawer front
18 drawer_side Drawer side
19 drawer_side Drawer side
20 drawer_back Drawer back
21 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/28668/tree_hier_after_merging.html b/PartNetMobility/Table/28668/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..a3456b4a9d3fe1f9db95675f75a5085b12e8ef67
--- /dev/null
+++ b/PartNetMobility/Table/28668/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 drawer_base drawer_base
3 tabletop_surface tabletop_surface
6 drawer drawer
14 back_panel back_panel
15 vertical_side_panel vertical_side_panel
16 vertical_side_panel vertical_side_panel
17 vertical_front_panel vertical_front_panel
18 leg leg
19 leg leg
20 leg leg
21 leg leg
22 bar_stretcher bar_stretcher
23 bar_stretcher bar_stretcher
4 board board
7 drawer_box drawer_box
13 handle handle
8 drawer_front drawer_front
9 drawer_side drawer_side
10 drawer_side drawer_side
11 drawer_back drawer_back
12 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/29921/bounding_box.json b/PartNetMobility/Table/29921/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d67f43b481a9f6a79a8494dd66c2fd6a9eb94d0
--- /dev/null
+++ b/PartNetMobility/Table/29921/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.49247, -0.787594, -0.445311], "max": [0.474624, 0.409762, 0.449482]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/29921/meta.json b/PartNetMobility/Table/29921/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb3c11b503bde7aabeb171f98ea594c13505f283
--- /dev/null
+++ b/PartNetMobility/Table/29921/meta.json
@@ -0,0 +1 @@
+{"model_id": "a95828fa4607295674c8eb7e4d6198a5", "anno_id": "29921", "user_id": "chuangda013", "time_in_sec": "2737", "version": "5", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/29921/mobility.urdf b/PartNetMobility/Table/29921/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7438fa696c08b06a5fcb6d31b58757a0d199af2e
--- /dev/null
+++ b/PartNetMobility/Table/29921/mobility.urdf
@@ -0,0 +1,272 @@
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diff --git a/PartNetMobility/Table/29921/mobility_v2.json b/PartNetMobility/Table/29921/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..42ac6227acb0c64a008e8d58d0439a339b834a6b
--- /dev/null
+++ b/PartNetMobility/Table/29921/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":51,"name":"board","children":[]},{"id":41,"name":"shelf","children":[]},{"id":42,"name":"vertical_side_panel","children":[]},{"id":43,"name":"vertical_side_panel","children":[]},{"id":44,"name":"leg","children":[]},{"id":45,"name":"leg","children":[]},{"id":46,"name":"leg","children":[]},{"id":47,"name":"leg","children":[]},{"id":65,"name":"other_leaf","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"slider","name":"handle","parts":[{"id":49,"name":"handle","children":[]},{"id":59,"name":"drawer_front","children":[]},{"id":60,"name":"drawer_side","children":[]},{"id":61,"name":"drawer_side","children":[]},{"id":62,"name":"drawer_back","children":[]},{"id":63,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.7120000000000002,"noLimit":false}}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/29921/result.json b/PartNetMobility/Table/29921/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..00af64744d757cb6821e0bff461674c5e67a8e2b
--- /dev/null
+++ b/PartNetMobility/Table/29921/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-3"], "id": 51, "name": "board"}], "id": 50, "name": "tabletop_surface"}], "id": 38, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-7", "original-23", "original-1"], "id": 59, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-6"], "id": 60, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-10"], "id": 61, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-9", "original-4"], "id": 62, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-24", "original-8"], "id": 63, "name": "drawer_bottom"}, {"text": "Top panel (other)", "children": [{"text": "other_leaf", "objs": ["original-2"], "id": 65, "name": "other_leaf"}], "id": 64, "name": "other"}], "id": 48, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-17"], "id": 49, "name": "handle"}], "id": 40, "name": "drawer"}, {"text": "Shelf", "objs": ["original-12", "original-13", "original-14"], "id": 41, "name": "shelf"}, {"text": "Vertical side panel", "objs": ["original-27"], "id": 42, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-20"], "id": 43, "name": "vertical_side_panel"}, {"text": "Leg", "objs": ["original-19"], "id": 44, "name": "leg"}, {"text": "Leg", "objs": ["original-28"], "id": 45, "name": "leg"}, {"text": "Leg", "objs": ["original-21"], "id": 46, "name": "leg"}, {"text": "Leg", "objs": ["original-26"], "id": 47, "name": "leg"}], "id": 39, "name": "drawer_base"}], "id": 37, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/29921/result_after_merging.json b/PartNetMobility/Table/29921/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..e51d77f0dd73a4f54dccffbd5add59d9363fefca
--- /dev/null
+++ b/PartNetMobility/Table/29921/result_after_merging.json
@@ -0,0 +1 @@
+[{"id": 0, "children": [{"id": 1, "children": [{"id": 2, "children": [{"id": 3, "children": [{"ori_id": 51, "id": 4, "name": "board", "text": "board", "objs": ["original-3"]}], "name": "tabletop_surface", "text": "tabletop_surface", "ori_id": 50, "objs": ["original-3"]}], "name": "tabletop", "text": "tabletop", "ori_id": 38, "objs": ["original-3"]}, {"id": 5, "children": [{"id": 6, "children": [{"id": 7, "children": [{"ori_id": 59, "id": 8, "name": "drawer_front", "text": "drawer_front", "objs": ["original-7", "original-23", "original-1"]}, {"ori_id": 60, "id": 9, "name": "drawer_side", "text": "drawer_side", "objs": ["original-6"]}, {"ori_id": 61, "id": 10, "name": "drawer_side", "text": "drawer_side", "objs": ["original-10"]}, {"ori_id": 62, "id": 11, "name": "drawer_back", "text": "drawer_back", "objs": ["original-9", "original-4"]}, {"ori_id": 63, "id": 12, "name": "drawer_bottom", "text": "drawer_bottom", "objs": ["original-24", "original-8"]}], "name": "drawer_box", "text": "drawer_box", "ori_id": 48, "objs": ["original-7", "original-23", "original-1", "original-6", "original-10", "original-9", "original-4", "original-24", "original-8", "original-2"]}, {"ori_id": 49, "id": 13, "name": "handle", "text": "handle", "objs": ["original-17"]}], "name": "drawer", "text": "drawer", "ori_id": 40, "objs": ["original-7", "original-23", "original-1", "original-6", "original-10", "original-9", "original-4", "original-24", "original-8", "original-2", "original-17"]}, {"ori_id": 41, "id": 14, "name": "shelf", "text": "shelf", "objs": ["original-12", "original-13", "original-14"]}, {"ori_id": 42, "id": 15, "name": "vertical_side_panel", "text": "vertical_side_panel", "objs": ["original-27"]}, {"ori_id": 43, "id": 16, "name": "vertical_side_panel", "text": "vertical_side_panel", "objs": ["original-20"]}, {"ori_id": 44, "id": 17, "name": "leg", "text": "leg", "objs": ["original-19"]}, {"ori_id": 45, "id": 18, "name": "leg", "text": "leg", "objs": ["original-28"]}, {"ori_id": 46, "id": 19, "name": "leg", "text": "leg", "objs": ["original-21"]}, {"ori_id": 47, "id": 20, "name": "leg", "text": "leg", "objs": ["original-26"]}], "name": "drawer_base", "text": "drawer_base", "ori_id": 39, "objs": ["original-7", "original-23", "original-1", "original-6", "original-10", "original-9", "original-4", "original-24", "original-8", "original-2", "original-17", "original-12", "original-13", "original-14", "original-27", "original-20", "original-19", "original-28", "original-21", "original-26"]}], "name": "regular_table", "text": "regular_table", "ori_id": 37, "objs": ["original-3", "original-7", "original-23", "original-1", "original-6", "original-10", "original-9", "original-4", "original-24", "original-8", "original-2", "original-17", "original-12", "original-13", "original-14", "original-27", "original-20", "original-19", "original-28", "original-21", "original-26"]}], "name": "table", "text": "table", "ori_id": 0, "objs": ["original-3", "original-7", "original-23", "original-1", "original-6", "original-10", "original-9", "original-4", "original-24", "original-8", "original-2", "original-17", "original-12", "original-13", "original-14", "original-27", "original-20", "original-19", "original-28", "original-21", "original-26"]}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/29921/semantics.txt b/PartNetMobility/Table/29921/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..016fd9cd3e120f8974147b7b8fc554034282c453
--- /dev/null
+++ b/PartNetMobility/Table/29921/semantics.txt
@@ -0,0 +1,2 @@
+link_0 heavy furniture_body
+link_1 slider drawer
diff --git a/PartNetMobility/Table/29921/tree_hier.html b/PartNetMobility/Table/29921/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..dc6fd56083c170d32c49eb97acbb765dbbb8a489
--- /dev/null
+++ b/PartNetMobility/Table/29921/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
37 desk Desk
38 tabletop Tabletop
39 drawer_base Drawer Base
50 tabletop_surface Tabletop surface
40 drawer Drawer
41 shelf Shelf
42 vertical_side_panel Vertical side panel
43 vertical_side_panel Vertical side panel
44 leg Leg
45 leg Leg
46 leg Leg
47 leg Leg
51 board Board
48 drawer_box Drawer box
49 handle Handle
59 drawer_front Drawer front
60 drawer_side Drawer side
61 drawer_side Drawer side
62 drawer_back Drawer back
63 drawer_bottom Drawer bottom
64 other Top panel (other)
65 other_leaf other_leaf
\ No newline at end of file
diff --git a/PartNetMobility/Table/29921/tree_hier_after_merging.html b/PartNetMobility/Table/29921/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..fa5a9e8d9c232d17d28c5c8a571211e08af2baa8
--- /dev/null
+++ b/PartNetMobility/Table/29921/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 drawer_base drawer_base
3 tabletop_surface tabletop_surface
6 drawer drawer
14 shelf shelf
15 vertical_side_panel vertical_side_panel
16 vertical_side_panel vertical_side_panel
17 leg leg
18 leg leg
19 leg leg
20 leg leg
4 board board
7 drawer_box drawer_box
13 handle handle
8 drawer_front drawer_front
9 drawer_side drawer_side
10 drawer_side drawer_side
11 drawer_back drawer_back
12 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/30238/bounding_box.json b/PartNetMobility/Table/30238/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2803381568192fd47b86934fe0e14bc595882e8
--- /dev/null
+++ b/PartNetMobility/Table/30238/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.725215, -0.718438, -0.419703], "max": [0.703127, 0.107059, 0.388991]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/30238/meta.json b/PartNetMobility/Table/30238/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ccc910f965b456bead5df7660afd0c6b371e6be
--- /dev/null
+++ b/PartNetMobility/Table/30238/meta.json
@@ -0,0 +1 @@
+{"model_id": "e056700bca093e0c1cf96a5dc33e37f1", "anno_id": "30238", "user_id": "shape21", "time_in_sec": "622", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/30238/mobility.urdf b/PartNetMobility/Table/30238/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..839193b28fabcaf9892b7ee63ed8307b7b24367d
--- /dev/null
+++ b/PartNetMobility/Table/30238/mobility.urdf
@@ -0,0 +1,989 @@
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diff --git a/PartNetMobility/Table/30238/mobility_v2.json b/PartNetMobility/Table/30238/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6049c1608a50ee57712c8639c95a6d3d7cf8d08
--- /dev/null
+++ b/PartNetMobility/Table/30238/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"heavy","name":"tabletop","parts":[{"id":41,"name":"board","children":[]},{"id":42,"name":"glass","children":[]},{"id":44,"name":"board","children":[]},{"id":36,"name":"bar","children":[]},{"id":37,"name":"bar","children":[]},{"id":38,"name":"bar","children":[]},{"id":39,"name":"bar","children":[]},{"id":45,"name":"bar","children":[]},{"id":46,"name":"bar","children":[]},{"id":47,"name":"bar","children":[]},{"id":48,"name":"bar","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]},{"id":14,"name":"leg","children":[]},{"id":15,"name":"leg","children":[]},{"id":21,"name":"bar_stretcher","children":[]},{"id":24,"name":"bar_stretcher","children":[]},{"id":25,"name":"bar_stretcher","children":[]},{"id":26,"name":"bar_stretcher","children":[]},{"id":27,"name":"tabletop_connector","children":[]},{"id":28,"name":"tabletop_connector","children":[]},{"id":29,"name":"tabletop_connector","children":[]},{"id":50,"name":"tabletop_connector","children":[]},{"id":51,"name":"tabletop_connector","children":[]},{"id":52,"name":"tabletop_connector","children":[]},{"id":53,"name":"tabletop_connector","children":[]},{"id":54,"name":"tabletop_connector","children":[]},{"id":33,"name":"drawer_rails","children":[]},{"id":57,"name":"drawer_rails","children":[]},{"id":58,"name":"drawer_rails","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"slider","name":"handle","parts":[{"id":65,"name":"handle","children":[]},{"id":66,"name":"drawer_front","children":[]},{"id":67,"name":"drawer_side","children":[]},{"id":68,"name":"drawer_side","children":[]},{"id":69,"name":"drawer_back","children":[]},{"id":70,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.472,"noLimit":false}}},{"id":2,"parent":0,"joint":"slider","name":"handle","parts":[{"id":56,"name":"handle","children":[]},{"id":59,"name":"drawer_front","children":[]},{"id":60,"name":"drawer_side","children":[]},{"id":61,"name":"drawer_side","children":[]},{"id":62,"name":"drawer_back","children":[]},{"id":63,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.472,"noLimit":false}}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/30238/result.json b/PartNetMobility/Table/30238/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f3bc2601ff80c265303bc5fdf742e538f13da68
--- /dev/null
+++ b/PartNetMobility/Table/30238/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-20"], "id": 41, "name": "board"}, {"text": "Glass", "objs": ["original-65", "original-72", "original-75", "original-71", "original-58", "original-57", "original-56", "original-70", "original-73", "original-62", "original-55", "original-54", "original-80", "original-67", "original-69", "original-60", "original-78", "original-66", "original-63", "original-61", "original-53", "original-59", "original-76", "original-79", "original-64", "original-68", "original-74", "original-77"], "id": 42, "name": "glass"}, {"text": "Board", "objs": ["original-32", "original-27"], "id": 44, "name": "board"}], "id": 34, "name": "tabletop_surface"}, {"text": "Tabletop frame", "children": [{"text": "Bar", "objs": ["original-30", "original-21"], "id": 36, "name": "bar"}, {"text": "Bar", "objs": ["original-28", "original-19"], "id": 37, "name": "bar"}, {"text": "Bar", "objs": ["original-31", "original-36"], "id": 38, "name": "bar"}, {"text": "Bar", "objs": ["original-29", "original-22"], "id": 39, "name": "bar"}, {"text": "Bar", "objs": ["original-25"], "id": 45, "name": "bar"}, {"text": "Bar", "objs": ["original-24"], "id": 46, "name": "bar"}, {"text": "Bar", "objs": ["original-26"], "id": 47, "name": "bar"}, {"text": "Bar", "objs": ["original-23"], "id": 48, "name": "bar"}], "id": 35, "name": "tabletop_frame"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Leg", "objs": ["original-3"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-2"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-33"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["original-1"], "id": 15, "name": "leg"}, {"text": "Bar Stretcher", "objs": ["original-10"], "id": 21, "name": "bar_stretcher"}, {"text": "Drawer", "children": [{"text": "Drawer rails", "objs": ["original-37"], "id": 33, "name": "drawer_rails"}, {"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-39", "original-8", "original-42"], "id": 66, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-38"], "id": 67, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-43"], "id": 68, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-41"], "id": 69, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-40"], "id": 70, "name": "drawer_bottom"}], "id": 64, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-34"], "id": 65, "name": "handle"}], "id": 23, "name": "drawer"}, {"text": "Bar Stretcher", "objs": ["original-7"], "id": 24, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-16"], "id": 25, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-17"], "id": 26, "name": "bar_stretcher"}, {"text": "Tabletop Connector", "objs": ["original-50"], "id": 27, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-52"], "id": 28, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-51"], "id": 29, "name": "tabletop_connector"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-44", "original-49"], "id": 59, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-46"], "id": 60, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-48"], "id": 61, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-47"], "id": 62, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-45"], "id": 63, "name": "drawer_bottom"}], "id": 55, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-35"], "id": 56, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-15", "original-12"], "id": 57, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-14"], "id": 58, "name": "drawer_rails"}], "id": 49, "name": "drawer"}, {"text": "Tabletop Connector", "objs": ["original-13", "original-5"], "id": 50, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-11"], "id": 51, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-9"], "id": 52, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-18", "original-4"], "id": 53, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-6"], "id": 54, "name": "tabletop_connector"}], "id": 9, "name": "drawer_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/30238/result_after_merging.json b/PartNetMobility/Table/30238/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..d40c7b3dde09fe66f906d31d35d55c90dd311b31
--- /dev/null
+++ b/PartNetMobility/Table/30238/result_after_merging.json
@@ -0,0 +1 @@
+[{"ori_id": 0, "objs": ["original-20", "original-65", "original-72", "original-75", "original-71", "original-58", "original-57", "original-56", "original-70", "original-73", "original-62", "original-55", "original-54", "original-80", "original-67", "original-69", "original-60", "original-78", "original-66", "original-63", "original-61", "original-53", "original-59", "original-76", "original-79", "original-64", "original-68", "original-74", "original-77", "original-32", "original-27", "original-30", "original-21", "original-28", "original-19", "original-31", "original-36", "original-29", "original-22", "original-25", "original-24", "original-26", "original-23", "original-3", "original-2", "original-33", "original-1", "original-10", "original-37", "original-39", "original-8", "original-42", "original-38", "original-43", "original-41", "original-40", "original-34", "original-7", "original-16", "original-17", "original-50", "original-52", "original-51", "original-44", "original-49", 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{"name": "leg", "id": 20, "text": "leg", "objs": ["original-33"], "ori_id": 14}, {"name": "leg", "id": 21, "text": "leg", "objs": ["original-1"], "ori_id": 15}, {"name": "bar_stretcher", "id": 22, "text": "bar_stretcher", "objs": ["original-10"], "ori_id": 21}, {"ori_id": 23, "objs": ["original-37", "original-39", "original-8", "original-42", "original-38", "original-43", "original-41", "original-40", "original-34"], "name": "drawer", "id": 23, "text": "drawer", "children": [{"ori_id": 64, "objs": ["original-39", "original-8", "original-42", "original-38", "original-43", "original-41", "original-40"], "name": "drawer_box", "id": 24, "text": "drawer_box", "children": [{"name": "drawer_front", "id": 25, "text": "drawer_front", "objs": ["original-39", "original-8", "original-42"], "ori_id": 66}, {"name": "drawer_side", "id": 26, "text": "drawer_side", "objs": ["original-38"], "ori_id": 67}, {"name": "drawer_side", "id": 27, "text": "drawer_side", "objs": ["original-43"], "ori_id": 68}, {"name": "drawer_back", "id": 28, "text": "drawer_back", "objs": ["original-41"], "ori_id": 69}, {"name": "drawer_bottom", "id": 29, "text": "drawer_bottom", "objs": ["original-40"], "ori_id": 70}]}, {"name": "handle", "id": 30, "text": "handle", "objs": ["original-34"], "ori_id": 65}]}, {"name": "bar_stretcher", "id": 31, "text": "bar_stretcher", "objs": ["original-7"], "ori_id": 24}, {"name": "bar_stretcher", "id": 32, "text": "bar_stretcher", "objs": ["original-16"], "ori_id": 25}, {"name": "bar_stretcher", "id": 33, "text": "bar_stretcher", "objs": ["original-17"], "ori_id": 26}, {"name": "tabletop_connector", "id": 34, "text": "tabletop_connector", "objs": ["original-50"], "ori_id": 27}, {"name": "tabletop_connector", "id": 35, "text": "tabletop_connector", "objs": ["original-52"], "ori_id": 28}, {"name": "tabletop_connector", "id": 36, "text": "tabletop_connector", "objs": ["original-51"], "ori_id": 29}, {"ori_id": 49, "objs": ["original-44", "original-49", "original-46", "original-48", "original-47", "original-45", "original-35", "original-15", "original-12", "original-14"], "name": "drawer", "id": 37, "text": "drawer", "children": [{"ori_id": 55, "objs": ["original-44", "original-49", "original-46", "original-48", "original-47", "original-45"], "name": "drawer_box", "id": 38, "text": "drawer_box", "children": [{"name": "drawer_front", "id": 39, "text": "drawer_front", "objs": ["original-44", "original-49"], "ori_id": 59}, {"name": "drawer_side", "id": 40, "text": "drawer_side", "objs": ["original-46"], "ori_id": 60}, {"name": "drawer_side", "id": 41, "text": "drawer_side", "objs": ["original-48"], "ori_id": 61}, {"name": "drawer_back", "id": 42, "text": "drawer_back", "objs": ["original-47"], "ori_id": 62}, {"name": "drawer_bottom", "id": 43, "text": "drawer_bottom", "objs": ["original-45"], "ori_id": 63}]}, {"name": "handle", "id": 44, "text": "handle", "objs": ["original-35"], "ori_id": 56}]}, {"name": "tabletop_connector", "id": 45, "text": "tabletop_connector", "objs": ["original-13", "original-5"], "ori_id": 50}, {"name": "tabletop_connector", "id": 46, "text": "tabletop_connector", "objs": ["original-11"], "ori_id": 51}, {"name": "tabletop_connector", "id": 47, "text": "tabletop_connector", "objs": ["original-9"], "ori_id": 52}, {"name": "tabletop_connector", "id": 48, "text": "tabletop_connector", "objs": ["original-18", "original-4"], "ori_id": 53}, {"name": "tabletop_connector", "id": 49, "text": "tabletop_connector", "objs": ["original-6"], "ori_id": 54}]}]}]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/30238/semantics.txt b/PartNetMobility/Table/30238/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8c8898e498cb546c3b7fa8612742977c6bc4a15f
--- /dev/null
+++ b/PartNetMobility/Table/30238/semantics.txt
@@ -0,0 +1,3 @@
+link_0 heavy furniture_body
+link_1 slider drawer
+link_2 slider drawer
diff --git a/PartNetMobility/Table/30238/tree_hier.html b/PartNetMobility/Table/30238/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..a39a8fa7b33902d7bcaad2756e910f78f608603f
--- /dev/null
+++ b/PartNetMobility/Table/30238/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
34 tabletop_surface Tabletop surface
35 tabletop_frame Tabletop frame
9 drawer_base Drawer Base
41 board Board
42 glass Glass
44 board Board
36 bar Bar
37 bar Bar
38 bar Bar
39 bar Bar
45 bar Bar
46 bar Bar
47 bar Bar
48 bar Bar
12 leg Leg
13 leg Leg
14 leg Leg
15 leg Leg
21 bar_stretcher Bar Stretcher
23 drawer Drawer
24 bar_stretcher Bar Stretcher
25 bar_stretcher Bar Stretcher
26 bar_stretcher Bar Stretcher
27 tabletop_connector Tabletop Connector
28 tabletop_connector Tabletop Connector
29 tabletop_connector Tabletop Connector
49 drawer Drawer
50 tabletop_connector Tabletop Connector
51 tabletop_connector Tabletop Connector
52 tabletop_connector Tabletop Connector
53 tabletop_connector Tabletop Connector
54 tabletop_connector Tabletop Connector
33 drawer_rails Drawer rails
64 drawer_box Drawer box
65 handle Handle
55 drawer_box Drawer box
56 handle Handle
57 drawer_rails Drawer rails
58 drawer_rails Drawer rails
66 drawer_front Drawer front
67 drawer_side Drawer side
68 drawer_side Drawer side
69 drawer_back Drawer back
70 drawer_bottom Drawer bottom
59 drawer_front Drawer front
60 drawer_side Drawer side
61 drawer_side Drawer side
62 drawer_back Drawer back
63 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/30238/tree_hier_after_merging.html b/PartNetMobility/Table/30238/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..80336c01d564ad1d87a22b485007c4b97ad73bea
--- /dev/null
+++ b/PartNetMobility/Table/30238/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
16 table_base table_base
3 tabletop_surface tabletop_surface
7 tabletop_frame tabletop_frame
17 drawer_base drawer_base
4 board board
5 glass glass
6 board board
8 bar bar
9 bar bar
10 bar bar
11 bar bar
12 bar bar
13 bar bar
14 bar bar
15 bar bar
18 leg leg
19 leg leg
20 leg leg
21 leg leg
22 bar_stretcher bar_stretcher
23 drawer drawer
31 bar_stretcher bar_stretcher
32 bar_stretcher bar_stretcher
33 bar_stretcher bar_stretcher
34 tabletop_connector tabletop_connector
35 tabletop_connector tabletop_connector
36 tabletop_connector tabletop_connector
37 drawer drawer
45 tabletop_connector tabletop_connector
46 tabletop_connector tabletop_connector
47 tabletop_connector tabletop_connector
48 tabletop_connector tabletop_connector
49 tabletop_connector tabletop_connector
24 drawer_box drawer_box
30 handle handle
38 drawer_box drawer_box
44 handle handle
25 drawer_front drawer_front
26 drawer_side drawer_side
27 drawer_side drawer_side
28 drawer_back drawer_back
29 drawer_bottom drawer_bottom
39 drawer_front drawer_front
40 drawer_side drawer_side
41 drawer_side drawer_side
42 drawer_back drawer_back
43 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/30341/bounding_box.json b/PartNetMobility/Table/30341/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a42d0c97e4c74ac867fd9bf3af672efd2b9f419
--- /dev/null
+++ b/PartNetMobility/Table/30341/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.298602, -0.940601, -0.285121], "max": [0.298717, 0.296702, 0.312198]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/30341/meta.json b/PartNetMobility/Table/30341/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82f5b75192bc8ae05dad647a13b8731d34ba8f35
--- /dev/null
+++ b/PartNetMobility/Table/30341/meta.json
@@ -0,0 +1 @@
+{"model_id": "e64f3681d7c76bb743638dabe1eb5336", "anno_id": "30341", "user_id": "shape02", "time_in_sec": "142", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/30341/mobility.urdf b/PartNetMobility/Table/30341/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ad0d3fad9db356598dce3725ee2ca584f660e9ae
--- /dev/null
+++ b/PartNetMobility/Table/30341/mobility.urdf
@@ -0,0 +1,344 @@
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diff --git a/PartNetMobility/Table/30341/mobility_v2.json b/PartNetMobility/Table/30341/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e371fdbbada856773eaef04c1135104f87e95ede
--- /dev/null
+++ b/PartNetMobility/Table/30341/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"heavy","name":"tabletop","parts":[{"id":31,"name":"board","children":[]},{"id":33,"name":"other_leaf","children":[]},{"id":5,"name":"back_panel","children":[]},{"id":6,"name":"vertical_side_panel","children":[]},{"id":7,"name":"vertical_side_panel","children":[]},{"id":8,"name":"leg","children":[]},{"id":9,"name":"leg","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":22,"name":"bar_stretcher","children":[]},{"id":23,"name":"bar_stretcher","children":[]},{"id":24,"name":"bar_stretcher","children":[]},{"id":25,"name":"bar_stretcher","children":[]},{"id":26,"name":"tabletop_connector","children":[]},{"id":27,"name":"tabletop_connector","children":[]},{"id":28,"name":"tabletop_connector","children":[]},{"id":29,"name":"tabletop_connector","children":[]},{"id":14,"name":"drawer_rails","children":[]},{"id":15,"name":"drawer_rails","children":[]},{"id":16,"name":"drawer_slider","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"slider","name":"handle","parts":[{"id":13,"name":"handle","children":[]},{"id":17,"name":"drawer_front","children":[]},{"id":18,"name":"drawer_side","children":[]},{"id":19,"name":"drawer_side","children":[]},{"id":20,"name":"drawer_back","children":[]},{"id":21,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.3959999999999999,"noLimit":false}}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/30341/result.json b/PartNetMobility/Table/30341/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fd58f8a6e5899a45ade474966dde07fcc926ce4
--- /dev/null
+++ b/PartNetMobility/Table/30341/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-27"], "id": 31, "name": "board"}], "id": 30, "name": "tabletop_surface"}, {"text": "decoration (other)", "children": [{"text": "other_leaf", "objs": ["original-28"], "id": 33, "name": "other_leaf"}], "id": 32, "name": "other"}], "id": 2, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-4"], "id": 17, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-7"], "id": 18, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-2"], "id": 19, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-6"], "id": 20, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-3"], "id": 21, "name": "drawer_bottom"}], "id": 12, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-11", "original-10"], "id": 13, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-5"], "id": 14, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-8"], "id": 15, "name": "drawer_rails"}, {"text": "Drawer slider", "objs": ["original-26"], "id": 16, "name": "drawer_slider"}], "id": 4, "name": "drawer"}, {"text": "Back panel", "objs": ["original-16"], "id": 5, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-18"], "id": 6, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-17"], "id": 7, "name": "vertical_side_panel"}, {"text": "Leg", "objs": ["original-15"], "id": 8, "name": "leg"}, {"text": "Leg", "objs": ["original-13"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["original-14"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-12"], "id": 11, "name": "leg"}, {"text": "Bar Stretcher", "objs": ["original-21"], "id": 22, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-22"], "id": 23, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-20"], "id": 24, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-19"], "id": 25, "name": "bar_stretcher"}, {"text": "Tabletop Connector", "objs": ["original-29"], "id": 26, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-25"], "id": 27, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-24"], "id": 28, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-23"], "id": 29, "name": "tabletop_connector"}], "id": 3, "name": "drawer_base"}], "id": 1, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/30341/result_after_merging.json b/PartNetMobility/Table/30341/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..552151b3a57949c62f072864e39450d2e8b95562
--- /dev/null
+++ b/PartNetMobility/Table/30341/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["original-27", "original-28", "original-4", "original-7", "original-2", "original-6", "original-3", "original-11", "original-10", "original-5", "original-8", "original-26", "original-16", "original-18", "original-17", "original-15", "original-13", "original-14", "original-12", "original-21", "original-22", "original-20", "original-19", "original-29", "original-25", "original-24", "original-23"], "text": "table", "ori_id": 0, "children": [{"objs": ["original-27", "original-28", "original-4", "original-7", "original-2", "original-6", "original-3", "original-11", "original-10", "original-5", "original-8", "original-26", "original-16", "original-18", "original-17", "original-15", "original-13", "original-14", "original-12", "original-21", "original-22", "original-20", "original-19", "original-29", "original-25", "original-24", "original-23"], "text": "regular_table", "ori_id": 1, "children": [{"objs": ["original-27", "original-28"], "text": "tabletop", "ori_id": 2, "children": [{"objs": ["original-27"], "text": "tabletop_surface", "ori_id": 30, "children": [{"id": 4, "objs": ["original-27"], "text": "board", "name": "board", "ori_id": 31}], "id": 3, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"objs": ["original-4", "original-7", "original-2", "original-6", "original-3", "original-11", "original-10", "original-5", "original-8", "original-26", "original-16", "original-18", "original-17", "original-15", "original-13", "original-14", "original-12", "original-21", "original-22", "original-20", "original-19", "original-29", "original-25", "original-24", "original-23"], "text": "drawer_base", "ori_id": 3, "children": [{"objs": ["original-4", "original-7", "original-2", "original-6", "original-3", "original-11", "original-10", "original-5", "original-8", "original-26"], "text": "drawer", "ori_id": 4, "children": [{"objs": ["original-4", "original-7", "original-2", "original-6", "original-3"], "text": "drawer_box", "ori_id": 12, "children": [{"id": 8, "objs": ["original-4"], "text": "drawer_front", "name": "drawer_front", "ori_id": 17}, {"id": 9, "objs": ["original-7"], "text": "drawer_side", "name": "drawer_side", "ori_id": 18}, {"id": 10, "objs": ["original-2"], "text": "drawer_side", "name": "drawer_side", "ori_id": 19}, {"id": 11, "objs": ["original-6"], "text": "drawer_back", "name": "drawer_back", "ori_id": 20}, {"id": 12, "objs": ["original-3"], "text": "drawer_bottom", "name": "drawer_bottom", "ori_id": 21}], "id": 7, "name": "drawer_box"}, {"id": 13, "objs": ["original-11", "original-10"], "text": "handle", "name": "handle", "ori_id": 13}], "id": 6, "name": "drawer"}, {"id": 14, "objs": ["original-16"], "text": "back_panel", "name": "back_panel", "ori_id": 5}, {"id": 15, "objs": ["original-18"], "text": "vertical_side_panel", "name": "vertical_side_panel", "ori_id": 6}, {"id": 16, "objs": ["original-17"], "text": "vertical_side_panel", "name": "vertical_side_panel", "ori_id": 7}, {"id": 17, "objs": ["original-15"], "text": "leg", "name": "leg", "ori_id": 8}, {"id": 18, "objs": ["original-13"], "text": "leg", "name": "leg", "ori_id": 9}, {"id": 19, "objs": ["original-14"], "text": "leg", "name": "leg", "ori_id": 10}, {"id": 20, "objs": ["original-12"], "text": "leg", "name": "leg", "ori_id": 11}, {"id": 21, "objs": ["original-21"], "text": "bar_stretcher", "name": "bar_stretcher", "ori_id": 22}, {"id": 22, "objs": ["original-22"], "text": "bar_stretcher", "name": "bar_stretcher", "ori_id": 23}, {"id": 23, "objs": ["original-20"], "text": "bar_stretcher", "name": "bar_stretcher", "ori_id": 24}, {"id": 24, "objs": ["original-19"], "text": "bar_stretcher", "name": "bar_stretcher", "ori_id": 25}, {"id": 25, "objs": ["original-29"], "text": "tabletop_connector", "name": "tabletop_connector", "ori_id": 26}, {"id": 26, "objs": ["original-25"], "text": "tabletop_connector", "name": "tabletop_connector", "ori_id": 27}, {"id": 27, "objs": ["original-24"], "text": "tabletop_connector", "name": "tabletop_connector", "ori_id": 28}, {"id": 28, "objs": ["original-23"], "text": "tabletop_connector", "name": "tabletop_connector", "ori_id": 29}], "id": 5, "name": "drawer_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/30341/semantics.txt b/PartNetMobility/Table/30341/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..016fd9cd3e120f8974147b7b8fc554034282c453
--- /dev/null
+++ b/PartNetMobility/Table/30341/semantics.txt
@@ -0,0 +1,2 @@
+link_0 heavy furniture_body
+link_1 slider drawer
diff --git a/PartNetMobility/Table/30341/tree_hier.html b/PartNetMobility/Table/30341/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..297360a5321d292cb49289c02f6c52f2e2511d56
--- /dev/null
+++ b/PartNetMobility/Table/30341/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 desk Desk
2 tabletop Tabletop
3 drawer_base Drawer Base
30 tabletop_surface Tabletop surface
32 other decoration (other)
4 drawer Drawer
5 back_panel Back panel
6 vertical_side_panel Vertical side panel
7 vertical_side_panel Vertical side panel
8 leg Leg
9 leg Leg
10 leg Leg
11 leg Leg
22 bar_stretcher Bar Stretcher
23 bar_stretcher Bar Stretcher
24 bar_stretcher Bar Stretcher
25 bar_stretcher Bar Stretcher
26 tabletop_connector Tabletop Connector
27 tabletop_connector Tabletop Connector
28 tabletop_connector Tabletop Connector
29 tabletop_connector Tabletop Connector
31 board Board
33 other_leaf other_leaf
12 drawer_box Drawer box
13 handle Handle
14 drawer_rails Drawer rails
15 drawer_rails Drawer rails
16 drawer_slider Drawer slider
17 drawer_front Drawer front
18 drawer_side Drawer side
19 drawer_side Drawer side
20 drawer_back Drawer back
21 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/30341/tree_hier_after_merging.html b/PartNetMobility/Table/30341/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..a55043258497b725e83d935abb39fc37115ec4ac
--- /dev/null
+++ b/PartNetMobility/Table/30341/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 drawer_base drawer_base
3 tabletop_surface tabletop_surface
6 drawer drawer
14 back_panel back_panel
15 vertical_side_panel vertical_side_panel
16 vertical_side_panel vertical_side_panel
17 leg leg
18 leg leg
19 leg leg
20 leg leg
21 bar_stretcher bar_stretcher
22 bar_stretcher bar_stretcher
23 bar_stretcher bar_stretcher
24 bar_stretcher bar_stretcher
25 tabletop_connector tabletop_connector
26 tabletop_connector tabletop_connector
27 tabletop_connector tabletop_connector
28 tabletop_connector tabletop_connector
4 board board
7 drawer_box drawer_box
13 handle handle
8 drawer_front drawer_front
9 drawer_side drawer_side
10 drawer_side drawer_side
11 drawer_back drawer_back
12 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/30666/bounding_box.json b/PartNetMobility/Table/30666/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..68f4d943f48ef82f0fe51fc507a5a405e640fe62
--- /dev/null
+++ b/PartNetMobility/Table/30666/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.822669, -0.470707, -0.362513], "max": [0.807753, 0.395455, 0.459977]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/30666/meta.json b/PartNetMobility/Table/30666/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ca7e6d3fdb4fb6a4580084a6212b88d41fb54de
--- /dev/null
+++ b/PartNetMobility/Table/30666/meta.json
@@ -0,0 +1 @@
+{"model_id": "d5d1e750bb492dd5391e4d6c585a697a", "anno_id": "30666", "user_id": "yz-zhangl", "time_in_sec": "998", "version": "3", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/30666/mobility.urdf b/PartNetMobility/Table/30666/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59defaad37cd798d0c12fb46d1d460e8e94f191f
--- /dev/null
+++ b/PartNetMobility/Table/30666/mobility.urdf
@@ -0,0 +1,2384 @@
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diff --git a/PartNetMobility/Table/30666/mobility_v2.json b/PartNetMobility/Table/30666/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..789594148959c7a7282ca5d36e215fea2fa3fa9d
--- /dev/null
+++ b/PartNetMobility/Table/30666/mobility_v2.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/30666/result.json b/PartNetMobility/Table/30666/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf30c04319f0abfc65d23225dc10102d4987a4b1
--- /dev/null
+++ b/PartNetMobility/Table/30666/result.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/30666/result_after_merging.json b/PartNetMobility/Table/30666/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c1bf2c1e4684d2215ba444bc939463606d44fe3
--- /dev/null
+++ b/PartNetMobility/Table/30666/result_after_merging.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/30666/tree_hier_after_merging.html b/PartNetMobility/Table/30666/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..4e34b8aa8ea9c46e7a93af6312ef56232da02f66
--- /dev/null
+++ b/PartNetMobility/Table/30666/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
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2 tabletop tabletop
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20 tabletop_connector tabletop_connector
21 tabletop_connector tabletop_connector
22 tabletop_connector tabletop_connector
23 tabletop_connector tabletop_connector
24 vertical_side_panel vertical_side_panel
25 vertical_side_panel vertical_side_panel
26 bar_stretcher bar_stretcher
27 bar_stretcher bar_stretcher
28 bar_stretcher bar_stretcher
29 bar_stretcher bar_stretcher
30 bar_stretcher bar_stretcher
31 bar_stretcher bar_stretcher
32 bar_stretcher bar_stretcher
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36 bar_stretcher bar_stretcher
37 bar_stretcher bar_stretcher
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41 bar_stretcher bar_stretcher
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45 bar_stretcher bar_stretcher
46 bar_stretcher bar_stretcher
47 bar_stretcher bar_stretcher
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49 bar_stretcher bar_stretcher
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51 bar_stretcher bar_stretcher
52 bar_stretcher bar_stretcher
53 bar_stretcher bar_stretcher
54 bar_stretcher bar_stretcher
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57 bar_stretcher bar_stretcher
58 bar_stretcher bar_stretcher
59 bar_stretcher bar_stretcher
60 bar_stretcher bar_stretcher
61 bar_stretcher bar_stretcher
62 bar_stretcher bar_stretcher
63 bar_stretcher bar_stretcher
64 bar_stretcher bar_stretcher
65 bar_stretcher bar_stretcher
66 bar_stretcher bar_stretcher
67 bar_stretcher bar_stretcher
68 bar_stretcher bar_stretcher
69 bar_stretcher bar_stretcher
70 bar_stretcher bar_stretcher
71 bar_stretcher bar_stretcher
72 bar_stretcher bar_stretcher
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81 drawer drawer
89 drawer drawer
97 bar_stretcher bar_stretcher
98 bar_stretcher bar_stretcher
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100 bar_stretcher bar_stretcher
101 bar_stretcher bar_stretcher
102 bar_stretcher bar_stretcher
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107 bar_stretcher bar_stretcher
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110 bar_stretcher bar_stretcher
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\ No newline at end of file
diff --git a/PartNetMobility/Table/30739/mobility.urdf b/PartNetMobility/Table/30739/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..613b5d610bb1aac8f4fc9f840ab8a786a760cbc3
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diff --git a/PartNetMobility/Table/30739/result.json b/PartNetMobility/Table/30739/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9047085f50af81991212d6c47bfb02dc6984561
--- /dev/null
+++ b/PartNetMobility/Table/30739/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["new-12"], "id": 21, "name": "board"}], "id": 20, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Shelf", "objs": ["new-0"], "id": 7, "name": "shelf"}, {"text": "Vertical side panel", "objs": ["new-9"], "id": 8, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["new-10"], "id": 9, "name": "vertical_side_panel"}, {"text": "Tabletop Connector", "objs": ["new-11"], "id": 10, "name": "tabletop_connector"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["new-7", "new-8"], "id": 15, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-4"], "id": 16, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-6"], "id": 17, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-5"], "id": 18, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-3"], "id": 19, "name": "drawer_bottom"}], "id": 13, "name": "drawer_box"}, {"text": "Handle", "objs": ["new-2"], "id": 14, "name": "handle"}], "id": 11, "name": "drawer"}, {"text": "Shelf", "objs": ["new-1"], "id": 12, "name": "shelf"}], "id": 4, "name": "drawer_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/30739/result_after_merging.json b/PartNetMobility/Table/30739/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..af95067d9142e6d7087db66091bca4d449868ddc
--- /dev/null
+++ b/PartNetMobility/Table/30739/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"children": [{"text": "board", "ori_id": 21, "objs": ["new-12"], "name": "board", "id": 4}], "objs": ["new-12"], "name": "tabletop_surface", "id": 3, "ori_id": 20, "text": "tabletop_surface"}], "objs": ["new-12"], "name": "tabletop", "id": 2, "ori_id": 2, "text": "tabletop"}, {"children": [{"children": [{"text": "shelf", "ori_id": 7, "objs": ["new-0"], "name": "shelf", "id": 7}, {"text": "vertical_side_panel", "ori_id": 8, "objs": ["new-9"], "name": "vertical_side_panel", "id": 8}, {"text": "vertical_side_panel", "ori_id": 9, "objs": ["new-10"], "name": "vertical_side_panel", "id": 9}, {"text": "tabletop_connector", "ori_id": 10, "objs": ["new-11"], "name": "tabletop_connector", "id": 10}, {"children": [{"children": [{"text": "drawer_front", "ori_id": 15, "objs": ["new-7", "new-8"], "name": "drawer_front", "id": 13}, {"text": "drawer_side", "ori_id": 16, "objs": ["new-4"], "name": "drawer_side", "id": 14}, {"text": "drawer_side", "ori_id": 17, "objs": ["new-6"], "name": "drawer_side", "id": 15}, {"text": "drawer_back", "ori_id": 18, "objs": ["new-5"], "name": "drawer_back", "id": 16}, {"text": "drawer_bottom", "ori_id": 19, "objs": ["new-3"], "name": "drawer_bottom", "id": 17}], "objs": ["new-7", "new-8", "new-4", "new-6", "new-5", "new-3"], "name": "drawer_box", "id": 12, "ori_id": 13, "text": "drawer_box"}, {"text": "handle", "ori_id": 14, "objs": ["new-2"], "name": "handle", "id": 18}], "objs": ["new-7", "new-8", "new-4", "new-6", "new-5", "new-3", "new-2"], "name": "drawer", "id": 11, "ori_id": 11, "text": "drawer"}, {"text": "shelf", "ori_id": 12, "objs": ["new-1"], "name": "shelf", "id": 19}], "objs": ["new-0", "new-9", "new-10", "new-11", "new-7", "new-8", "new-4", "new-6", "new-5", "new-3", "new-2", "new-1"], "name": "drawer_base", "id": 6, "ori_id": 4, "text": "drawer_base"}], "objs": ["new-0", "new-9", "new-10", "new-11", "new-7", "new-8", "new-4", "new-6", "new-5", "new-3", "new-2", "new-1"], "name": "table_base", "id": 5, "ori_id": 3, "text": "table_base"}], "objs": ["new-12", "new-0", "new-9", "new-10", "new-11", "new-7", "new-8", "new-4", "new-6", "new-5", "new-3", "new-2", "new-1"], "name": "regular_table", "id": 1, "ori_id": 1, "text": "regular_table"}], "objs": ["new-12", "new-0", "new-9", "new-10", "new-11", "new-7", "new-8", "new-4", "new-6", "new-5", "new-3", "new-2", "new-1"], "name": "table", "id": 0, "ori_id": 0, "text": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/30739/semantics.txt b/PartNetMobility/Table/30739/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d9ab475d8182a0ea8f8bb40bec8f63c07a539f15
--- /dev/null
+++ b/PartNetMobility/Table/30739/semantics.txt
@@ -0,0 +1,3 @@
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+link_1 slider drawer
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diff --git a/PartNetMobility/Table/30739/tree_hier.html b/PartNetMobility/Table/30739/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..dc6c594b784b3804b4fa65060ddcad71ae5b0826
--- /dev/null
+++ b/PartNetMobility/Table/30739/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
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3 table_base Table Base
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4 drawer_base Drawer Base
21 board Board
7 shelf Shelf
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13 drawer_box Drawer box
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18 drawer_back Drawer back
19 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/30739/tree_hier_after_merging.html b/PartNetMobility/Table/30739/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..8574d3ac4de10431d764a190c41c711bd295ea12
--- /dev/null
+++ b/PartNetMobility/Table/30739/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
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2 tabletop tabletop
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10 tabletop_connector tabletop_connector
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\ No newline at end of file
diff --git a/PartNetMobility/Table/30857/bounding_box.json b/PartNetMobility/Table/30857/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fbd22ac4ac5c869bf60071facdce18f3678fac8
--- /dev/null
+++ b/PartNetMobility/Table/30857/bounding_box.json
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+{"min": [-0.688542, -0.667524, -0.443392], "max": [0.692074, 0.11668, 0.491148]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/30857/meta.json b/PartNetMobility/Table/30857/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0cef74fcdaf67418dfb75881803a6b262590d52
--- /dev/null
+++ b/PartNetMobility/Table/30857/meta.json
@@ -0,0 +1 @@
+{"model_id": "e8502118aeed3381d5b708f09789d978", "anno_id": "30857", "user_id": "yz-majinghua", "time_in_sec": "584", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/30857/mobility.urdf b/PartNetMobility/Table/30857/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1c81eb486862c756ffa5d4ae20555e5cfae9a141
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diff --git a/PartNetMobility/Table/30857/mobility_v2.json b/PartNetMobility/Table/30857/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..58c51e5dcf8bfe50c2021f5e20e8cb019e5f836b
--- /dev/null
+++ b/PartNetMobility/Table/30857/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":34,"name":"drawer_front","children":[]},{"id":35,"name":"drawer_side","children":[]},{"id":36,"name":"drawer_side","children":[]},{"id":37,"name":"drawer_back","children":[]},{"id":38,"name":"drawer_bottom","children":[]},{"id":33,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.544,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":27,"name":"drawer_front","children":[]},{"id":28,"name":"drawer_side","children":[]},{"id":29,"name":"drawer_side","children":[]},{"id":30,"name":"drawer_back","children":[]},{"id":31,"name":"drawer_bottom","children":[]},{"id":26,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":-0.07600000000000007,"b":0.5680000000000001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":20,"name":"drawer_front","children":[]},{"id":21,"name":"drawer_side","children":[]},{"id":22,"name":"drawer_side","children":[]},{"id":23,"name":"drawer_back","children":[]},{"id":24,"name":"drawer_bottom","children":[]},{"id":19,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.6160000000000001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":17,"name":"board","children":[]},{"id":8,"name":"back_panel","children":[]},{"id":9,"name":"vertical_side_panel","children":[]},{"id":10,"name":"vertical_side_panel","children":[]},{"id":11,"name":"bottom_panel","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]},{"id":14,"name":"leg","children":[]},{"id":15,"name":"leg","children":[]},{"id":39,"name":"vertical_divider_panel","children":[]},{"id":40,"name":"vertical_divider_panel","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/30857/result.json b/PartNetMobility/Table/30857/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0140e381fb319a5923177dd413d5fd76d4d992d2
--- /dev/null
+++ b/PartNetMobility/Table/30857/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["new-8"], "id": 17, "name": "board"}], "id": 16, "name": "tabletop_surface"}], "id": 3, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-13", "new-20"], "id": 34, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-23"], "id": 35, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-22"], "id": 36, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-21"], "id": 37, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-24"], "id": 38, "name": "drawer_bottom"}], "id": 32, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-11", "original-12"], "id": 33, "name": "handle"}], "id": 5, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-6", "new-15"], "id": 27, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-17"], "id": 28, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-18"], "id": 29, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-16"], "id": 30, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-19"], "id": 31, "name": "drawer_bottom"}], "id": 25, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-5", "original-4"], "id": 26, "name": "handle"}], "id": 6, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-20", "new-11"], "id": 20, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-13"], "id": 21, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-12"], "id": 22, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-10"], "id": 23, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-14"], "id": 24, "name": "drawer_bottom"}], "id": 18, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-18", "original-19"], "id": 19, "name": "handle"}], "id": 7, "name": "drawer"}, {"text": "Back panel", "objs": ["new-9"], "id": 8, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["new-0", "new-6"], "id": 9, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["new-5", "new-1"], "id": 10, "name": "vertical_side_panel"}, {"text": "Bottom panel", "objs": ["new-4"], "id": 11, "name": "bottom_panel"}, {"text": "Leg", "objs": ["original-25"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-24"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-23"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["original-22"], "id": 15, "name": "leg"}, {"text": "Vertical divider panel", "objs": ["new-3"], "id": 39, "name": "vertical_divider_panel"}, {"text": "Vertical divider panel", "objs": ["new-2"], "id": 40, "name": "vertical_divider_panel"}], "id": 4, "name": "drawer_base"}], "id": 2, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/30857/result_after_merging.json b/PartNetMobility/Table/30857/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..c049e1649028729dcdf26ce6403013541e495fc9
--- /dev/null
+++ b/PartNetMobility/Table/30857/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "table", "children": [{"name": "regular_table", "children": [{"name": "tabletop", "children": [{"name": "tabletop_surface", "children": [{"name": "board", "objs": ["new-8"], "id": 4, "ori_id": 17, "text": "board"}], "ori_id": 16, "text": "tabletop_surface", "id": 3, "objs": ["new-8"]}], "ori_id": 3, "text": "tabletop", "id": 2, "objs": ["new-8"]}, {"name": "drawer_base", "children": [{"name": "drawer", "children": [{"name": "drawer_box", "children": [{"name": "drawer_front", "objs": ["original-13", "new-20"], "id": 8, "ori_id": 34, "text": "drawer_front"}, {"name": "drawer_side", "objs": ["new-23"], "id": 9, "ori_id": 35, "text": "drawer_side"}, {"name": "drawer_side", "objs": ["new-22"], "id": 10, "ori_id": 36, "text": "drawer_side"}, {"name": "drawer_back", "objs": ["new-21"], "id": 11, "ori_id": 37, "text": "drawer_back"}, {"name": "drawer_bottom", "objs": ["new-24"], "id": 12, "ori_id": 38, "text": "drawer_bottom"}], "ori_id": 32, "text": "drawer_box", "id": 7, "objs": ["original-13", "new-20", "new-23", "new-22", "new-21", "new-24"]}, {"name": "handle", "objs": ["original-11", "original-12"], "id": 13, "ori_id": 33, "text": "handle"}], "ori_id": 5, "text": "drawer", "id": 6, "objs": ["original-13", "new-20", "new-23", "new-22", "new-21", "new-24", "original-11", "original-12"]}, {"name": "drawer", "children": [{"name": "drawer_box", "children": [{"name": "drawer_front", "objs": ["original-6", "new-15"], "id": 16, "ori_id": 27, "text": "drawer_front"}, {"name": "drawer_side", "objs": ["new-17"], "id": 17, "ori_id": 28, "text": "drawer_side"}, {"name": "drawer_side", "objs": ["new-18"], "id": 18, "ori_id": 29, "text": "drawer_side"}, {"name": "drawer_back", "objs": ["new-16"], "id": 19, "ori_id": 30, "text": "drawer_back"}, {"name": "drawer_bottom", "objs": ["new-19"], "id": 20, "ori_id": 31, "text": "drawer_bottom"}], "ori_id": 25, "text": "drawer_box", "id": 15, "objs": ["original-6", "new-15", "new-17", "new-18", "new-16", "new-19"]}, {"name": "handle", "objs": ["original-5", "original-4"], "id": 21, "ori_id": 26, "text": "handle"}], "ori_id": 6, "text": "drawer", "id": 14, "objs": ["original-6", "new-15", "new-17", "new-18", "new-16", "new-19", "original-5", "original-4"]}, {"name": "drawer", "children": [{"name": "drawer_box", "children": [{"name": "drawer_front", "objs": ["original-20", "new-11"], "id": 24, "ori_id": 20, "text": "drawer_front"}, {"name": "drawer_side", "objs": ["new-13"], "id": 25, "ori_id": 21, "text": "drawer_side"}, {"name": "drawer_side", "objs": ["new-12"], "id": 26, "ori_id": 22, "text": "drawer_side"}, {"name": "drawer_back", "objs": ["new-10"], "id": 27, "ori_id": 23, "text": "drawer_back"}, {"name": "drawer_bottom", "objs": ["new-14"], "id": 28, "ori_id": 24, "text": "drawer_bottom"}], "ori_id": 18, "text": "drawer_box", "id": 23, "objs": ["original-20", "new-11", "new-13", "new-12", "new-10", "new-14"]}, {"name": "handle", "objs": ["original-18", "original-19"], "id": 29, "ori_id": 19, "text": "handle"}], "ori_id": 7, "text": "drawer", "id": 22, "objs": ["original-20", "new-11", "new-13", "new-12", "new-10", "new-14", "original-18", "original-19"]}, {"name": "back_panel", "objs": ["new-9"], "id": 30, "ori_id": 8, "text": "back_panel"}, {"name": "vertical_side_panel", "objs": ["new-0", "new-6"], "id": 31, "ori_id": 9, "text": "vertical_side_panel"}, {"name": "vertical_side_panel", "objs": ["new-5", "new-1"], "id": 32, "ori_id": 10, "text": "vertical_side_panel"}, {"name": "bottom_panel", "objs": ["new-4"], "id": 33, "ori_id": 11, "text": "bottom_panel"}, {"name": "leg", "objs": ["original-25"], "id": 34, "ori_id": 12, "text": "leg"}, {"name": "leg", "objs": ["original-24"], "id": 35, "ori_id": 13, "text": "leg"}, {"name": "leg", "objs": ["original-23"], "id": 36, "ori_id": 14, "text": "leg"}, {"name": "leg", "objs": ["original-22"], "id": 37, "ori_id": 15, "text": "leg"}, {"name": "vertical_divider_panel", "objs": ["new-3"], "id": 38, "ori_id": 39, "text": "vertical_divider_panel"}, {"name": "vertical_divider_panel", "objs": ["new-2"], "id": 39, "ori_id": 40, "text": "vertical_divider_panel"}], "ori_id": 4, "text": "drawer_base", "id": 5, "objs": ["original-13", "new-20", "new-23", "new-22", "new-21", "new-24", "original-11", "original-12", "original-6", "new-15", "new-17", "new-18", "new-16", "new-19", "original-5", "original-4", "original-20", "new-11", "new-13", "new-12", "new-10", "new-14", "original-18", "original-19", "new-9", "new-0", "new-6", "new-5", "new-1", "new-4", "original-25", "original-24", "original-23", "original-22", "new-3", "new-2"]}], "ori_id": 2, "text": "regular_table", "id": 1, "objs": ["new-8", "original-13", "new-20", "new-23", "new-22", "new-21", "new-24", "original-11", "original-12", "original-6", "new-15", "new-17", "new-18", "new-16", "new-19", "original-5", "original-4", "original-20", "new-11", "new-13", "new-12", "new-10", "new-14", "original-18", "original-19", "new-9", "new-0", "new-6", "new-5", "new-1", "new-4", "original-25", "original-24", "original-23", "original-22", "new-3", "new-2"]}], "ori_id": 0, "text": "table", "id": 0, "objs": ["new-8", "original-13", "new-20", "new-23", "new-22", "new-21", "new-24", "original-11", "original-12", "original-6", "new-15", "new-17", "new-18", "new-16", "new-19", "original-5", "original-4", "original-20", "new-11", "new-13", "new-12", "new-10", "new-14", "original-18", "original-19", "new-9", "new-0", "new-6", "new-5", "new-1", "new-4", "original-25", "original-24", "original-23", "original-22", "new-3", "new-2"]}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/30857/semantics.txt b/PartNetMobility/Table/30857/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..935b1b0ee0e1adeaea0334617306dcc5ecc2f4c0
--- /dev/null
+++ b/PartNetMobility/Table/30857/semantics.txt
@@ -0,0 +1,4 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 slider drawer
+link_3 heavy furniture_body
diff --git a/PartNetMobility/Table/30857/tree_hier.html b/PartNetMobility/Table/30857/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..7b2b9a61e22ecac64088a2f7bf8c1013538862f3
--- /dev/null
+++ b/PartNetMobility/Table/30857/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
2 desk Desk
3 tabletop Tabletop
4 drawer_base Drawer Base
16 tabletop_surface Tabletop surface
5 drawer Drawer
6 drawer Drawer
7 drawer Drawer
8 back_panel Back panel
9 vertical_side_panel Vertical side panel
10 vertical_side_panel Vertical side panel
11 bottom_panel Bottom panel
12 leg Leg
13 leg Leg
14 leg Leg
15 leg Leg
39 vertical_divider_panel Vertical divider panel
40 vertical_divider_panel Vertical divider panel
17 board Board
32 drawer_box Drawer box
33 handle Handle
25 drawer_box Drawer box
26 handle Handle
18 drawer_box Drawer box
19 handle Handle
34 drawer_front Drawer front
35 drawer_side Drawer side
36 drawer_side Drawer side
37 drawer_back Drawer back
38 drawer_bottom Drawer bottom
27 drawer_front Drawer front
28 drawer_side Drawer side
29 drawer_side Drawer side
30 drawer_back Drawer back
31 drawer_bottom Drawer bottom
20 drawer_front Drawer front
21 drawer_side Drawer side
22 drawer_side Drawer side
23 drawer_back Drawer back
24 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/30857/tree_hier_after_merging.html b/PartNetMobility/Table/30857/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..f6d6a25fbd7f1e73533a02c33e8304e505ff4ec1
--- /dev/null
+++ b/PartNetMobility/Table/30857/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 drawer_base drawer_base
3 tabletop_surface tabletop_surface
6 drawer drawer
14 drawer drawer
22 drawer drawer
30 back_panel back_panel
31 vertical_side_panel vertical_side_panel
32 vertical_side_panel vertical_side_panel
33 bottom_panel bottom_panel
34 leg leg
35 leg leg
36 leg leg
37 leg leg
38 vertical_divider_panel vertical_divider_panel
39 vertical_divider_panel vertical_divider_panel
4 board board
7 drawer_box drawer_box
13 handle handle
15 drawer_box drawer_box
21 handle handle
23 drawer_box drawer_box
29 handle handle
8 drawer_front drawer_front
9 drawer_side drawer_side
10 drawer_side drawer_side
11 drawer_back drawer_back
12 drawer_bottom drawer_bottom
16 drawer_front drawer_front
17 drawer_side drawer_side
18 drawer_side drawer_side
19 drawer_back drawer_back
20 drawer_bottom drawer_bottom
24 drawer_front drawer_front
25 drawer_side drawer_side
26 drawer_side drawer_side
27 drawer_back drawer_back
28 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/31249/bounding_box.json b/PartNetMobility/Table/31249/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..6017fad1b956f7dc5bdf24a481d0b99da619c575
--- /dev/null
+++ b/PartNetMobility/Table/31249/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.824394, -0.735592, -0.245099], "max": [0.800024, 0.497977, 0.269271]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/31249/meta.json b/PartNetMobility/Table/31249/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b775c445c62c1d7d38840307bb2c7e4e211fb5db
--- /dev/null
+++ b/PartNetMobility/Table/31249/meta.json
@@ -0,0 +1 @@
+{"model_id": "77b83ff0d0eeb34e6349f6b5431fb3d1", "anno_id": "31249", "user_id": "yz-majinghua", "time_in_sec": "618", "version": "4", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/31249/mobility.urdf b/PartNetMobility/Table/31249/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5d3d5acc1940d86a7e549dac81f24cfa0da5dbf7
--- /dev/null
+++ b/PartNetMobility/Table/31249/mobility.urdf
@@ -0,0 +1,1067 @@
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diff --git a/PartNetMobility/Table/31249/mobility_v2.json b/PartNetMobility/Table/31249/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..463e9462fba752960efff61869b84f36797bd5a1
--- /dev/null
+++ b/PartNetMobility/Table/31249/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"slider","name":"drawer","parts":[{"id":82,"name":"drawer_front","children":[]},{"id":83,"name":"drawer_side","children":[]},{"id":84,"name":"drawer_side","children":[]},{"id":85,"name":"drawer_back","children":[]},{"id":86,"name":"drawer_bottom","children":[]},{"id":47,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.3839999999999999,"noLimit":false}}},{"id":1,"parent":2,"joint":"slider","name":"drawer","parts":[{"id":87,"name":"drawer_front","children":[]},{"id":88,"name":"drawer_side","children":[]},{"id":89,"name":"drawer_side","children":[]},{"id":90,"name":"drawer_back","children":[]},{"id":91,"name":"drawer_bottom","children":[]},{"id":40,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.3839999999999999,"noLimit":false}}},{"id":2,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":28,"name":"board","children":[]},{"id":16,"name":"vertical_side_panel","children":[]},{"id":17,"name":"vertical_side_panel","children":[]},{"id":18,"name":"vertical_side_panel","children":[]},{"id":19,"name":"vertical_side_panel","children":[]},{"id":20,"name":"bottom_panel","children":[]},{"id":21,"name":"leg","children":[]},{"id":22,"name":"leg","children":[]},{"id":23,"name":"leg","children":[]},{"id":24,"name":"leg","children":[]},{"id":32,"name":"shelf","children":[]},{"id":53,"name":"back_panel","children":[]},{"id":54,"name":"bottom_panel","children":[]},{"id":55,"name":"shelf","children":[]},{"id":56,"name":"shelf","children":[]},{"id":57,"name":"shelf","children":[]},{"id":58,"name":"shelf","children":[]},{"id":59,"name":"bar_stretcher","children":[]},{"id":60,"name":"bar_stretcher","children":[]},{"id":69,"name":"hinge","children":[]},{"id":70,"name":"hinge","children":[]},{"id":71,"name":"hinge","children":[]},{"id":72,"name":"hinge","children":[]},{"id":74,"name":"other_leaf","children":[]},{"id":75,"name":"other_leaf","children":[]},{"id":76,"name":"other_leaf","children":[]},{"id":77,"name":"other_leaf","children":[]},{"id":78,"name":"other_leaf","children":[]},{"id":79,"name":"other_leaf","children":[]},{"id":80,"name":"other_leaf","children":[]},{"id":81,"name":"other_leaf","children":[]}],"jointData":{}},{"id":3,"parent":2,"joint":"hinge","name":"cabinet_door_surface","parts":[{"id":35,"name":"cabinet_door_surface","children":[]},{"id":36,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[-0.5368544630024709,0.04881900000000003,0.22285941751647614],"direction":[0,1,0]},"limit":{"a":0,"b":-90,"noLimit":false}}},{"id":4,"parent":2,"joint":"hinge","name":"cabinet_door_surface","parts":[{"id":37,"name":"cabinet_door_surface","children":[]},{"id":38,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0.5119219004394762,0.048819,0.22386711728301867],"direction":[0,1,0]},"limit":{"a":0,"b":90,"noLimit":false}}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/31249/result.json b/PartNetMobility/Table/31249/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..aac3cb65802f0b3fa31481a9bae2d7aa0a10cb2b
--- /dev/null
+++ b/PartNetMobility/Table/31249/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-86"], "id": 28, "name": "board"}], "id": 27, "name": "tabletop_surface"}], "id": 10, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["original-97", "original-100", "original-102", "original-99", "original-105"], "id": 35, "name": "cabinet_door_surface"}, {"text": "Handle", "objs": ["original-122", "original-121", "original-118", "original-119"], "id": 36, "name": "handle"}, {"text": "Hinge", "objs": ["original-103"], "id": 69, "name": "hinge"}, {"text": "Hinge", "objs": ["original-104"], "id": 70, "name": "hinge"}], "id": 15, "name": "cabinet_door"}, {"text": "Vertical side panel", "objs": ["original-33"], "id": 16, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-27"], "id": 17, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-94"], "id": 18, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-91"], "id": 19, "name": "vertical_side_panel"}, {"text": "Bottom panel", "objs": ["original-68"], "id": 20, "name": "bottom_panel"}, {"text": "Leg", "objs": ["original-44", "original-43", "original-46", "original-45"], "id": 21, "name": "leg"}, {"text": "Leg", "objs": ["original-58", "original-59", "original-60", "original-57"], "id": 22, "name": "leg"}, {"text": "Leg", "objs": ["original-63", "original-64", "original-65", "original-66"], "id": 23, "name": "leg"}, {"text": "Leg", "objs": ["original-52", "original-49", "original-51", "original-50"], "id": 24, "name": "leg"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-18"], "id": 82, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-7", "original-25"], "id": 83, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-9"], "id": 84, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-8", "original-24"], "id": 85, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-5", "original-23"], "id": 86, "name": "drawer_bottom"}], "id": 46, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-17", "original-13", "original-16", "original-14"], "id": 47, "name": "handle"}], "id": 29, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-85"], "id": 87, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-74"], "id": 88, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-31", "original-76"], "id": 89, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-75", "original-30"], "id": 90, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-72", "original-29"], "id": 91, "name": "drawer_bottom"}], "id": 39, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-81", "original-80", "original-84", "original-83"], "id": 40, "name": "handle"}], "id": 30, "name": "drawer"}, {"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["original-107", "original-110", "original-115", "original-109", "original-112"], "id": 37, "name": "cabinet_door_surface"}, {"text": "Handle", "objs": ["original-125", "original-126", "original-129", "original-128"], "id": 38, "name": "handle"}, {"text": "Hinge", "objs": ["original-113"], "id": 71, "name": "hinge"}, {"text": "Hinge", "objs": ["original-114"], "id": 72, "name": "hinge"}], "id": 31, "name": "cabinet_door"}, {"text": "Shelf", "objs": ["original-35"], "id": 32, "name": "shelf"}, {"text": "Back panel", "objs": ["original-90"], "id": 53, "name": "back_panel"}, {"text": "Bottom panel", "objs": ["original-92"], "id": 54, "name": "bottom_panel"}, {"text": "Shelf", "objs": ["original-26"], "id": 55, "name": "shelf"}, {"text": "Shelf", "objs": ["original-32"], "id": 56, "name": "shelf"}, {"text": "Shelf", "objs": ["original-89"], "id": 57, "name": "shelf"}, {"text": "Shelf", "objs": ["original-93"], "id": 58, "name": "shelf"}, {"text": "Bar Stretcher", "objs": ["original-38"], "id": 59, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-67"], "id": 60, "name": "bar_stretcher"}, {"text": "Fixing frame (other)", "children": [{"text": "other_leaf", "objs": ["original-40"], "id": 74, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-47"], "id": 75, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-41"], "id": 76, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-69"], "id": 77, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-54"], "id": 78, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-61"], "id": 79, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-55"], "id": 80, "name": "other_leaf"}, {"text": "other_leaf", "objs": ["original-20"], "id": 81, "name": "other_leaf"}], "id": 73, "name": "other"}], "id": 11, "name": "drawer_base"}], "id": 9, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/31249/result_after_merging.json b/PartNetMobility/Table/31249/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..abc26b8dda70d354efcfbac306fd8c360155b524
--- /dev/null
+++ b/PartNetMobility/Table/31249/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "table", "name": "table", "children": [{"text": "regular_table", "name": "regular_table", "children": [{"text": "tabletop", "name": "tabletop", "children": [{"text": "tabletop_surface", "name": "tabletop_surface", "children": [{"text": "board", "id": 4, "name": "board", "objs": ["original-86"], "ori_id": 28}], "id": 3, "objs": ["original-86"], "ori_id": 27}], "id": 2, "objs": ["original-86"], "ori_id": 10}, {"text": "drawer_base", "name": "drawer_base", "children": [{"text": "cabinet_door", "name": "cabinet_door", "children": [{"text": "cabinet_door_surface", "id": 7, "name": "cabinet_door_surface", "objs": ["original-97", "original-100", "original-102", "original-99", "original-105"], "ori_id": 35}, {"text": "handle", "id": 8, "name": "handle", "objs": ["original-122", "original-121", "original-118", "original-119"], "ori_id": 36}], "id": 6, "objs": ["original-97", "original-100", "original-102", "original-99", "original-105", "original-122", "original-121", "original-118", "original-119", "original-103", "original-104"], "ori_id": 15}, {"text": "vertical_side_panel", "id": 9, "name": "vertical_side_panel", "objs": ["original-33"], "ori_id": 16}, {"text": "vertical_side_panel", "id": 10, "name": "vertical_side_panel", "objs": ["original-27"], "ori_id": 17}, {"text": "vertical_side_panel", "id": 11, "name": "vertical_side_panel", "objs": ["original-94"], "ori_id": 18}, {"text": "vertical_side_panel", "id": 12, "name": "vertical_side_panel", "objs": ["original-91"], "ori_id": 19}, {"text": "bottom_panel", "id": 13, "name": "bottom_panel", "objs": ["original-68"], "ori_id": 20}, {"text": "leg", "id": 14, "name": "leg", "objs": ["original-44", "original-43", "original-46", "original-45"], "ori_id": 21}, {"text": "leg", "id": 15, "name": "leg", "objs": ["original-58", "original-59", "original-60", "original-57"], "ori_id": 22}, {"text": "leg", "id": 16, "name": "leg", "objs": ["original-63", "original-64", "original-65", "original-66"], "ori_id": 23}, {"text": "leg", "id": 17, "name": "leg", "objs": ["original-52", "original-49", "original-51", "original-50"], "ori_id": 24}, {"text": "drawer", "name": "drawer", "children": [{"text": "drawer_box", "name": "drawer_box", "children": [{"text": "drawer_front", "id": 20, "name": "drawer_front", "objs": ["original-18"], "ori_id": 82}, {"text": "drawer_side", "id": 21, "name": "drawer_side", "objs": ["original-7", "original-25"], "ori_id": 83}, {"text": "drawer_side", "id": 22, "name": "drawer_side", "objs": ["original-9"], "ori_id": 84}, {"text": "drawer_back", "id": 23, "name": "drawer_back", "objs": ["original-8", "original-24"], "ori_id": 85}, {"text": "drawer_bottom", "id": 24, "name": "drawer_bottom", "objs": ["original-5", "original-23"], "ori_id": 86}], "id": 19, "objs": ["original-18", "original-7", "original-25", "original-9", "original-8", "original-24", "original-5", "original-23"], "ori_id": 46}, {"text": "handle", "id": 25, "name": "handle", "objs": ["original-17", "original-13", "original-16", "original-14"], "ori_id": 47}], "id": 18, "objs": ["original-18", "original-7", "original-25", "original-9", "original-8", "original-24", "original-5", "original-23", "original-17", "original-13", "original-16", "original-14"], "ori_id": 29}, {"text": "drawer", "name": "drawer", "children": [{"text": "drawer_box", "name": "drawer_box", "children": [{"text": "drawer_front", "id": 28, "name": "drawer_front", "objs": ["original-85"], "ori_id": 87}, {"text": "drawer_side", "id": 29, "name": "drawer_side", "objs": ["original-74"], "ori_id": 88}, {"text": "drawer_side", "id": 30, "name": "drawer_side", "objs": ["original-31", "original-76"], "ori_id": 89}, {"text": "drawer_back", "id": 31, "name": "drawer_back", "objs": ["original-75", "original-30"], "ori_id": 90}, {"text": "drawer_bottom", "id": 32, "name": "drawer_bottom", "objs": ["original-72", "original-29"], "ori_id": 91}], "id": 27, "objs": ["original-85", "original-74", "original-31", "original-76", "original-75", "original-30", "original-72", "original-29"], "ori_id": 39}, {"text": "handle", "id": 33, "name": "handle", "objs": ["original-81", "original-80", "original-84", "original-83"], "ori_id": 40}], "id": 26, "objs": ["original-85", "original-74", "original-31", "original-76", "original-75", "original-30", "original-72", "original-29", "original-81", "original-80", "original-84", "original-83"], "ori_id": 30}, {"text": "cabinet_door", "name": "cabinet_door", "children": [{"text": "cabinet_door_surface", "id": 35, "name": "cabinet_door_surface", "objs": ["original-107", "original-110", "original-115", "original-109", "original-112"], "ori_id": 37}, {"text": "handle", "id": 36, "name": "handle", "objs": ["original-125", "original-126", "original-129", "original-128"], "ori_id": 38}], "id": 34, "objs": ["original-107", "original-110", "original-115", "original-109", "original-112", "original-125", "original-126", "original-129", "original-128", "original-113", "original-114"], "ori_id": 31}, {"text": "shelf", "id": 37, "name": "shelf", "objs": ["original-35"], "ori_id": 32}, {"text": "back_panel", "id": 38, "name": "back_panel", "objs": ["original-90"], "ori_id": 53}, {"text": "bottom_panel", "id": 39, "name": "bottom_panel", "objs": ["original-92"], "ori_id": 54}, {"text": "shelf", "id": 40, "name": "shelf", "objs": ["original-26"], "ori_id": 55}, {"text": "shelf", "id": 41, "name": "shelf", "objs": ["original-32"], "ori_id": 56}, {"text": "shelf", "id": 42, "name": "shelf", "objs": ["original-89"], "ori_id": 57}, {"text": "shelf", "id": 43, "name": "shelf", "objs": ["original-93"], "ori_id": 58}, {"text": "bar_stretcher", "id": 44, "name": "bar_stretcher", "objs": ["original-38"], "ori_id": 59}, {"text": "bar_stretcher", "id": 45, "name": "bar_stretcher", "objs": ["original-67"], "ori_id": 60}], "id": 5, "objs": ["original-97", "original-100", "original-102", "original-99", "original-105", "original-122", "original-121", "original-118", "original-119", "original-103", "original-104", "original-33", "original-27", "original-94", "original-91", "original-68", "original-44", "original-43", "original-46", "original-45", "original-58", "original-59", "original-60", "original-57", "original-63", "original-64", "original-65", "original-66", "original-52", "original-49", "original-51", "original-50", "original-18", "original-7", "original-25", "original-9", "original-8", "original-24", "original-5", "original-23", "original-17", "original-13", "original-16", "original-14", "original-85", "original-74", "original-31", "original-76", "original-75", "original-30", "original-72", "original-29", "original-81", "original-80", "original-84", "original-83", "original-107", "original-110", "original-115", "original-109", "original-112", "original-125", "original-126", "original-129", "original-128", "original-113", "original-114", "original-35", "original-90", "original-92", "original-26", "original-32", "original-89", "original-93", "original-38", "original-67", "original-40", "original-47", "original-41", "original-69", "original-54", "original-61", "original-55", "original-20"], "ori_id": 11}], "id": 1, "objs": ["original-86", "original-97", "original-100", "original-102", "original-99", "original-105", "original-122", "original-121", "original-118", "original-119", "original-103", "original-104", "original-33", "original-27", "original-94", "original-91", "original-68", "original-44", "original-43", "original-46", "original-45", "original-58", "original-59", "original-60", "original-57", "original-63", "original-64", "original-65", "original-66", "original-52", "original-49", "original-51", "original-50", "original-18", "original-7", "original-25", "original-9", "original-8", "original-24", "original-5", "original-23", "original-17", "original-13", "original-16", "original-14", "original-85", "original-74", "original-31", "original-76", "original-75", "original-30", "original-72", "original-29", "original-81", "original-80", "original-84", "original-83", "original-107", "original-110", "original-115", "original-109", "original-112", "original-125", "original-126", "original-129", "original-128", "original-113", "original-114", "original-35", "original-90", "original-92", "original-26", "original-32", "original-89", "original-93", "original-38", "original-67", "original-40", "original-47", "original-41", "original-69", "original-54", "original-61", "original-55", "original-20"], "ori_id": 9}], "id": 0, "objs": ["original-86", "original-97", "original-100", "original-102", "original-99", "original-105", "original-122", "original-121", "original-118", "original-119", "original-103", "original-104", "original-33", "original-27", "original-94", "original-91", "original-68", "original-44", "original-43", "original-46", "original-45", "original-58", "original-59", "original-60", "original-57", "original-63", "original-64", "original-65", "original-66", "original-52", "original-49", "original-51", "original-50", "original-18", "original-7", "original-25", "original-9", "original-8", "original-24", "original-5", "original-23", "original-17", "original-13", "original-16", "original-14", "original-85", "original-74", "original-31", "original-76", "original-75", "original-30", "original-72", "original-29", "original-81", "original-80", "original-84", "original-83", "original-107", "original-110", "original-115", "original-109", "original-112", "original-125", "original-126", "original-129", "original-128", "original-113", "original-114", "original-35", "original-90", "original-92", "original-26", "original-32", "original-89", "original-93", "original-38", "original-67", "original-40", "original-47", "original-41", "original-69", "original-54", "original-61", "original-55", "original-20"], "ori_id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/31249/semantics.txt b/PartNetMobility/Table/31249/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d921e8c18447ae8128f5b1703fd0de91dc32807
--- /dev/null
+++ b/PartNetMobility/Table/31249/semantics.txt
@@ -0,0 +1,5 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 heavy furniture_body
+link_3 hinge door
+link_4 hinge door
diff --git a/PartNetMobility/Table/31249/tree_hier.html b/PartNetMobility/Table/31249/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..ceb10b2b9e05c49d55ec8ea7667456db9730c61f
--- /dev/null
+++ b/PartNetMobility/Table/31249/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
9 desk Desk
10 tabletop Tabletop
11 drawer_base Drawer Base
27 tabletop_surface Tabletop surface
15 cabinet_door Cabinet door
16 vertical_side_panel Vertical side panel
17 vertical_side_panel Vertical side panel
18 vertical_side_panel Vertical side panel
19 vertical_side_panel Vertical side panel
20 bottom_panel Bottom panel
21 leg Leg
22 leg Leg
23 leg Leg
24 leg Leg
29 drawer Drawer
30 drawer Drawer
31 cabinet_door Cabinet door
32 shelf Shelf
53 back_panel Back panel
54 bottom_panel Bottom panel
55 shelf Shelf
56 shelf Shelf
57 shelf Shelf
58 shelf Shelf
59 bar_stretcher Bar Stretcher
60 bar_stretcher Bar Stretcher
73 other Fixing frame (other)
28 board Board
35 cabinet_door_surface Cabinet door surface
36 handle Handle
69 hinge Hinge
70 hinge Hinge
46 drawer_box Drawer box
47 handle Handle
39 drawer_box Drawer box
40 handle Handle
37 cabinet_door_surface Cabinet door surface
38 handle Handle
71 hinge Hinge
72 hinge Hinge
74 other_leaf other_leaf
75 other_leaf other_leaf
76 other_leaf other_leaf
77 other_leaf other_leaf
78 other_leaf other_leaf
79 other_leaf other_leaf
80 other_leaf other_leaf
81 other_leaf other_leaf
82 drawer_front Drawer front
83 drawer_side Drawer side
84 drawer_side Drawer side
85 drawer_back Drawer back
86 drawer_bottom Drawer bottom
87 drawer_front Drawer front
88 drawer_side Drawer side
89 drawer_side Drawer side
90 drawer_back Drawer back
91 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/31249/tree_hier_after_merging.html b/PartNetMobility/Table/31249/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..9dac8aa5df5ba023cf76d15b0cd4501d3e79dba8
--- /dev/null
+++ b/PartNetMobility/Table/31249/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 drawer_base drawer_base
3 tabletop_surface tabletop_surface
6 cabinet_door cabinet_door
9 vertical_side_panel vertical_side_panel
10 vertical_side_panel vertical_side_panel
11 vertical_side_panel vertical_side_panel
12 vertical_side_panel vertical_side_panel
13 bottom_panel bottom_panel
14 leg leg
15 leg leg
16 leg leg
17 leg leg
18 drawer drawer
26 drawer drawer
34 cabinet_door cabinet_door
37 shelf shelf
38 back_panel back_panel
39 bottom_panel bottom_panel
40 shelf shelf
41 shelf shelf
42 shelf shelf
43 shelf shelf
44 bar_stretcher bar_stretcher
45 bar_stretcher bar_stretcher
4 board board
7 cabinet_door_surface cabinet_door_surface
8 handle handle
19 drawer_box drawer_box
25 handle handle
27 drawer_box drawer_box
33 handle handle
35 cabinet_door_surface cabinet_door_surface
36 handle handle
20 drawer_front drawer_front
21 drawer_side drawer_side
22 drawer_side drawer_side
23 drawer_back drawer_back
24 drawer_bottom drawer_bottom
28 drawer_front drawer_front
29 drawer_side drawer_side
30 drawer_side drawer_side
31 drawer_back drawer_back
32 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/32086/bounding_box.json b/PartNetMobility/Table/32086/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea87b8a21ea02dd0772c6f0256a1085892228a9a
--- /dev/null
+++ b/PartNetMobility/Table/32086/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.879033, -0.612152, -0.365411], "max": [0.848936, 0.433724, 0.334871]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/32086/meta.json b/PartNetMobility/Table/32086/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6aa02ccb1cee790d4f978510bc35c42d17734df
--- /dev/null
+++ b/PartNetMobility/Table/32086/meta.json
@@ -0,0 +1 @@
+{"model_id": "1c70e72ac0eb77816349f6b5431fb3d1", "anno_id": "32086", "user_id": "shape12", "time_in_sec": "287", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/32086/mobility.urdf b/PartNetMobility/Table/32086/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..46e06dc1ad990c34edd0dadeeeacb39da1a7f74f
--- /dev/null
+++ b/PartNetMobility/Table/32086/mobility.urdf
@@ -0,0 +1,725 @@
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diff --git a/PartNetMobility/Table/32086/mobility_v2.json b/PartNetMobility/Table/32086/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..eda4c0d4f8f77b6301e4cf929181bc70a04c0454
--- /dev/null
+++ b/PartNetMobility/Table/32086/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"hinge","name":"cabinet_door","parts":[{"id":75,"name":"cabinet_door_surface","children":[]},{"id":76,"name":"handle","children":[]},{"id":77,"name":"hinge","children":[]},{"id":78,"name":"hinge","children":[]}],"jointData":{"axis":{"origin":[0.5502011550737963,0.4337239861488341,0.21818256249133108],"direction":[0,1,0]},"limit":{"a":0,"b":170,"noLimit":false}}},{"id":1,"parent":2,"joint":"hinge","name":"cabinet_door","parts":[{"id":71,"name":"cabinet_door_surface","children":[]},{"id":72,"name":"handle","children":[]},{"id":73,"name":"hinge","children":[]},{"id":74,"name":"hinge","children":[]}],"jointData":{"axis":{"origin":[-0.5785958365213436,0.43372398614883434,0.21492041577430132],"direction":[0,1,0]},"limit":{"a":0,"b":-170,"noLimit":false}}},{"id":2,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":83,"name":"board","children":[]},{"id":17,"name":"bar_stretcher","children":[]},{"id":18,"name":"bar_stretcher","children":[]},{"id":19,"name":"bar_stretcher","children":[]},{"id":20,"name":"bar_stretcher","children":[]},{"id":21,"name":"bar_stretcher","children":[]},{"id":22,"name":"bar_stretcher","children":[]},{"id":23,"name":"bar_stretcher","children":[]},{"id":24,"name":"bar_stretcher","children":[]},{"id":63,"name":"back_panel","children":[]},{"id":64,"name":"vertical_side_panel","children":[]},{"id":65,"name":"vertical_side_panel","children":[]},{"id":66,"name":"bottom_panel","children":[]},{"id":67,"name":"leg","children":[]},{"id":68,"name":"leg","children":[]},{"id":69,"name":"leg","children":[]},{"id":70,"name":"leg","children":[]},{"id":79,"name":"vertical_front_panel","children":[]},{"id":84,"name":"shelf","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/32086/result.json b/PartNetMobility/Table/32086/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c136aac1815770e84642dd4e00b1808c9d8ca4ae
--- /dev/null
+++ b/PartNetMobility/Table/32086/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-80", "original-81", "original-82", "original-79", "original-83"], "id": 83, "name": "board"}], "id": 82, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Bar Stretcher", "objs": ["original-4"], "id": 17, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-21"], "id": 18, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-27"], "id": 19, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-20"], "id": 20, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-33"], "id": 21, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-6"], "id": 22, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-13"], "id": 23, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-7"], "id": 24, "name": "bar_stretcher"}, {"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["original-63", "original-55", "original-58", "original-60", "original-57"], "id": 75, "name": "cabinet_door_surface"}, {"text": "Handle", "objs": ["original-73", "original-77", "original-76", "original-74"], "id": 76, "name": "handle"}, {"text": "Hinge", "objs": ["original-61"], "id": 77, "name": "hinge"}, {"text": "Hinge", "objs": ["original-62"], "id": 78, "name": "hinge"}], "id": 61, "name": "cabinet_door"}, {"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["original-45", "original-48", "original-50", "original-53", "original-47"], "id": 71, "name": "cabinet_door_surface"}, {"text": "Handle", "objs": ["original-67", "original-69", "original-66", "original-70"], "id": 72, "name": "handle"}, {"text": "Hinge", "objs": ["original-51"], "id": 73, "name": "hinge"}, {"text": "Hinge", "objs": ["original-52"], "id": 74, "name": "hinge"}], "id": 62, "name": "cabinet_door"}, {"text": "Back panel", "objs": ["original-38"], "id": 63, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-42"], "id": 64, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-39"], "id": 65, "name": "vertical_side_panel"}, {"text": "Bottom panel", "objs": ["original-34"], "id": 66, "name": "bottom_panel"}, {"text": "Leg", "objs": ["original-11", "original-12", "original-9", "original-10"], "id": 67, "name": "leg"}, {"text": "Leg", "objs": ["original-15", "original-16", "original-18", "original-17"], "id": 68, "name": "leg"}, {"text": "Leg", "objs": ["original-30", "original-29", "original-31", "original-32"], "id": 69, "name": "leg"}, {"text": "Leg", "objs": ["original-24", "original-25", "original-26", "original-23"], "id": 70, "name": "leg"}, {"text": "Vertical Front Panel", "objs": ["original-37", "original-40"], "id": 79, "name": "vertical_front_panel"}, {"text": "Shelf", "objs": ["original-41"], "id": 84, "name": "shelf"}], "id": 4, "name": "drawer_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/32086/result_after_merging.json b/PartNetMobility/Table/32086/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f3755e7e211bbf3f8ad4e5d1283adb666515030
--- /dev/null
+++ b/PartNetMobility/Table/32086/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "table", "ori_id": 0, "objs": ["original-80", "original-81", "original-82", "original-79", "original-83", "original-4", "original-21", "original-27", "original-20", "original-33", "original-6", "original-13", "original-7", "original-63", "original-55", "original-58", "original-60", "original-57", "original-73", "original-77", "original-76", "original-74", "original-61", "original-62", "original-45", "original-48", "original-50", "original-53", "original-47", "original-67", "original-69", "original-66", "original-70", "original-51", "original-52", "original-38", "original-42", "original-39", "original-34", "original-11", "original-12", "original-9", "original-10", "original-15", "original-16", "original-18", "original-17", "original-30", "original-29", "original-31", "original-32", "original-24", "original-25", "original-26", "original-23", "original-37", "original-40", "original-41"], "children": [{"name": "regular_table", "ori_id": 1, "objs": ["original-80", "original-81", "original-82", "original-79", "original-83", "original-4", "original-21", "original-27", "original-20", "original-33", "original-6", "original-13", "original-7", "original-63", "original-55", "original-58", "original-60", "original-57", "original-73", "original-77", "original-76", "original-74", "original-61", "original-62", "original-45", "original-48", "original-50", "original-53", "original-47", "original-67", "original-69", "original-66", "original-70", "original-51", "original-52", "original-38", "original-42", "original-39", "original-34", "original-11", "original-12", "original-9", "original-10", "original-15", "original-16", "original-18", "original-17", "original-30", "original-29", "original-31", "original-32", "original-24", "original-25", "original-26", "original-23", "original-37", "original-40", "original-41"], "children": [{"name": "tabletop", "ori_id": 2, "objs": ["original-80", "original-81", "original-82", "original-79", "original-83"], "children": [{"name": "tabletop_surface", "ori_id": 82, "objs": ["original-80", "original-81", "original-82", "original-79", "original-83"], "children": [{"name": "board", "objs": ["original-80", "original-81", "original-82", "original-79", "original-83"], "ori_id": 83, "id": 4, "text": "board"}], "id": 3, "text": "tabletop_surface"}], "id": 2, "text": "tabletop"}, {"name": "table_base", "ori_id": 3, "objs": ["original-4", "original-21", "original-27", "original-20", "original-33", "original-6", "original-13", "original-7", "original-63", "original-55", "original-58", "original-60", "original-57", "original-73", "original-77", "original-76", "original-74", "original-61", "original-62", "original-45", "original-48", "original-50", "original-53", "original-47", "original-67", "original-69", "original-66", "original-70", "original-51", "original-52", "original-38", "original-42", "original-39", "original-34", "original-11", "original-12", "original-9", "original-10", "original-15", "original-16", "original-18", "original-17", "original-30", "original-29", "original-31", "original-32", "original-24", "original-25", "original-26", "original-23", "original-37", "original-40", "original-41"], "children": [{"name": "drawer_base", "ori_id": 4, "objs": ["original-4", "original-21", "original-27", "original-20", "original-33", "original-6", "original-13", "original-7", "original-63", "original-55", "original-58", "original-60", "original-57", "original-73", "original-77", "original-76", "original-74", "original-61", "original-62", "original-45", "original-48", "original-50", "original-53", "original-47", "original-67", "original-69", "original-66", "original-70", "original-51", "original-52", "original-38", "original-42", "original-39", "original-34", "original-11", "original-12", "original-9", "original-10", "original-15", "original-16", "original-18", "original-17", "original-30", "original-29", "original-31", "original-32", "original-24", "original-25", "original-26", "original-23", "original-37", "original-40", "original-41"], "children": [{"name": "bar_stretcher", "objs": ["original-4"], "ori_id": 17, "id": 7, "text": "bar_stretcher"}, {"name": "bar_stretcher", "objs": ["original-21"], "ori_id": 18, "id": 8, "text": "bar_stretcher"}, {"name": "bar_stretcher", "objs": ["original-27"], "ori_id": 19, "id": 9, "text": "bar_stretcher"}, {"name": "bar_stretcher", "objs": ["original-20"], "ori_id": 20, "id": 10, "text": "bar_stretcher"}, {"name": "bar_stretcher", "objs": ["original-33"], "ori_id": 21, "id": 11, "text": "bar_stretcher"}, {"name": "bar_stretcher", "objs": ["original-6"], "ori_id": 22, "id": 12, "text": "bar_stretcher"}, {"name": "bar_stretcher", "objs": ["original-13"], "ori_id": 23, "id": 13, "text": "bar_stretcher"}, {"name": "bar_stretcher", "objs": ["original-7"], "ori_id": 24, "id": 14, "text": "bar_stretcher"}, {"name": "cabinet_door", "ori_id": 61, "objs": ["original-63", "original-55", "original-58", "original-60", "original-57", "original-73", "original-77", "original-76", "original-74", "original-61", "original-62"], "children": [{"name": "cabinet_door_surface", "objs": ["original-63", "original-55", "original-58", "original-60", "original-57"], "ori_id": 75, "id": 16, "text": "cabinet_door_surface"}, {"name": "handle", "objs": ["original-73", "original-77", "original-76", "original-74"], "ori_id": 76, "id": 17, "text": "handle"}], "id": 15, "text": "cabinet_door"}, {"name": "cabinet_door", "ori_id": 62, "objs": ["original-45", "original-48", "original-50", "original-53", "original-47", "original-67", "original-69", "original-66", "original-70", "original-51", "original-52"], "children": [{"name": "cabinet_door_surface", "objs": ["original-45", "original-48", "original-50", "original-53", "original-47"], "ori_id": 71, "id": 19, "text": "cabinet_door_surface"}, {"name": "handle", "objs": ["original-67", "original-69", "original-66", "original-70"], "ori_id": 72, "id": 20, "text": "handle"}], "id": 18, "text": "cabinet_door"}, {"name": "back_panel", "objs": ["original-38"], "ori_id": 63, "id": 21, "text": "back_panel"}, {"name": "vertical_side_panel", "objs": ["original-42"], "ori_id": 64, "id": 22, "text": "vertical_side_panel"}, {"name": "vertical_side_panel", "objs": ["original-39"], "ori_id": 65, "id": 23, "text": "vertical_side_panel"}, {"name": "bottom_panel", "objs": ["original-34"], "ori_id": 66, "id": 24, "text": "bottom_panel"}, {"name": "leg", "objs": ["original-11", "original-12", "original-9", "original-10"], "ori_id": 67, "id": 25, "text": "leg"}, {"name": "leg", "objs": ["original-15", "original-16", "original-18", "original-17"], "ori_id": 68, "id": 26, "text": "leg"}, {"name": "leg", "objs": ["original-30", "original-29", "original-31", "original-32"], "ori_id": 69, "id": 27, "text": "leg"}, {"name": "leg", "objs": ["original-24", "original-25", "original-26", "original-23"], "ori_id": 70, "id": 28, "text": "leg"}, {"name": "vertical_front_panel", "objs": ["original-37", "original-40"], "ori_id": 79, "id": 29, "text": "vertical_front_panel"}, {"name": "shelf", "objs": ["original-41"], "ori_id": 84, "id": 30, "text": "shelf"}], "id": 6, "text": "drawer_base"}], "id": 5, "text": "table_base"}], "id": 1, "text": "regular_table"}], "id": 0, "text": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/32086/semantics.txt b/PartNetMobility/Table/32086/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c4c7c49389740d4ac18442d0f666085b47d02fcf
--- /dev/null
+++ b/PartNetMobility/Table/32086/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge door
+link_1 hinge door
+link_2 heavy furniture_body
diff --git a/PartNetMobility/Table/32086/tree_hier.html b/PartNetMobility/Table/32086/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..abd34eab1c78e626655f889c54503dfe9711b043
--- /dev/null
+++ b/PartNetMobility/Table/32086/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
82 tabletop_surface Tabletop surface
4 drawer_base Drawer Base
83 board Board
17 bar_stretcher Bar Stretcher
18 bar_stretcher Bar Stretcher
19 bar_stretcher Bar Stretcher
20 bar_stretcher Bar Stretcher
21 bar_stretcher Bar Stretcher
22 bar_stretcher Bar Stretcher
23 bar_stretcher Bar Stretcher
24 bar_stretcher Bar Stretcher
61 cabinet_door Cabinet door
62 cabinet_door Cabinet door
63 back_panel Back panel
64 vertical_side_panel Vertical side panel
65 vertical_side_panel Vertical side panel
66 bottom_panel Bottom panel
67 leg Leg
68 leg Leg
69 leg Leg
70 leg Leg
79 vertical_front_panel Vertical Front Panel
84 shelf Shelf
75 cabinet_door_surface Cabinet door surface
76 handle Handle
77 hinge Hinge
78 hinge Hinge
71 cabinet_door_surface Cabinet door surface
72 handle Handle
73 hinge Hinge
74 hinge Hinge
\ No newline at end of file
diff --git a/PartNetMobility/Table/32086/tree_hier_after_merging.html b/PartNetMobility/Table/32086/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..6fb79194d726b4803d476b2c9bd2b0d5501cf974
--- /dev/null
+++ b/PartNetMobility/Table/32086/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
6 drawer_base drawer_base
4 board board
7 bar_stretcher bar_stretcher
8 bar_stretcher bar_stretcher
9 bar_stretcher bar_stretcher
10 bar_stretcher bar_stretcher
11 bar_stretcher bar_stretcher
12 bar_stretcher bar_stretcher
13 bar_stretcher bar_stretcher
14 bar_stretcher bar_stretcher
15 cabinet_door cabinet_door
18 cabinet_door cabinet_door
21 back_panel back_panel
22 vertical_side_panel vertical_side_panel
23 vertical_side_panel vertical_side_panel
24 bottom_panel bottom_panel
25 leg leg
26 leg leg
27 leg leg
28 leg leg
29 vertical_front_panel vertical_front_panel
30 shelf shelf
16 cabinet_door_surface cabinet_door_surface
17 handle handle
19 cabinet_door_surface cabinet_door_surface
20 handle handle
\ No newline at end of file
diff --git a/PartNetMobility/Table/32566/bounding_box.json b/PartNetMobility/Table/32566/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c4fd8d202bd7ff945478fc731ff6be4ac5f3d3d
--- /dev/null
+++ b/PartNetMobility/Table/32566/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.822841, -0.507516, -0.324464], "max": [0.801276, 0.329433, 0.320209]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/32566/meta.json b/PartNetMobility/Table/32566/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..763b72af186b27f6bf24f2ab212bd635b4025aff
--- /dev/null
+++ b/PartNetMobility/Table/32566/meta.json
@@ -0,0 +1 @@
+{"model_id": "b7bb5f021d40ae59f7b4b759a0c02e4a", "anno_id": "32566", "user_id": "shape16", "time_in_sec": "111", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/32566/mobility.urdf b/PartNetMobility/Table/32566/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e8ee28334acccc7e5682e20a831079f69dd1f7b9
--- /dev/null
+++ b/PartNetMobility/Table/32566/mobility.urdf
@@ -0,0 +1,260 @@
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diff --git a/PartNetMobility/Table/32566/mobility_v2.json b/PartNetMobility/Table/32566/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2d175b7711f1db6d1a8778c25b141eebb4aa438
--- /dev/null
+++ b/PartNetMobility/Table/32566/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"cabinet_door","parts":[{"id":17,"name":"cabinet_door_surface","children":[]},{"id":18,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[-0.25622758750076446,-0.37577400000000005,0.2688494129164587],"direction":[0,1,0]},"limit":{"a":0,"b":-90,"noLimit":false}}},{"id":1,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":26,"name":"board","children":[]},{"id":5,"name":"shelf","children":[]},{"id":6,"name":"back_panel","children":[]},{"id":7,"name":"vertical_side_panel","children":[]},{"id":8,"name":"vertical_side_panel","children":[]},{"id":9,"name":"leg","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"tabletop_connector","children":[]},{"id":14,"name":"tabletop_connector","children":[]},{"id":15,"name":"tabletop_connector","children":[]},{"id":16,"name":"tabletop_connector","children":[]},{"id":19,"name":"bar_stretcher","children":[]},{"id":20,"name":"bar_stretcher","children":[]},{"id":21,"name":"bar_stretcher","children":[]},{"id":22,"name":"bar_stretcher","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/32566/result.json b/PartNetMobility/Table/32566/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..940dcc229e55c72cc9f1bda98495c68513d9491c
--- /dev/null
+++ b/PartNetMobility/Table/32566/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-16", "original-17"], "id": 26, "name": "board"}], "id": 25, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["original-18"], "id": 17, "name": "cabinet_door_surface"}, {"text": "Handle", "objs": ["original-20"], "id": 18, "name": "handle"}], "id": 4, "name": "cabinet_door"}, {"text": "Shelf", "objs": ["original-2"], "id": 5, "name": "shelf"}, {"text": "Back panel", "objs": ["original-19"], "id": 6, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-8"], "id": 7, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-7"], "id": 8, "name": "vertical_side_panel"}, {"text": "Leg", "objs": ["original-10"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["original-11"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-1"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-9"], "id": 12, "name": "leg"}, {"text": "Tabletop Connector", "objs": ["original-13"], "id": 13, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-12"], "id": 14, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-14"], "id": 15, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-15"], "id": 16, "name": "tabletop_connector"}, {"text": "Bar Stretcher", "objs": ["original-4"], "id": 19, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-6"], "id": 20, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-5"], "id": 21, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-3"], "id": 22, "name": "bar_stretcher"}], "id": 3, "name": "drawer_base"}], "id": 1, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/32566/result_after_merging.json b/PartNetMobility/Table/32566/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..e90b1b8fe5ffc45d329754da78082faa347068d5
--- /dev/null
+++ b/PartNetMobility/Table/32566/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "table", "id": 0, "ori_id": 0, "name": "table", "children": [{"text": "regular_table", "id": 1, "ori_id": 1, "name": "regular_table", "children": [{"text": "tabletop", "id": 2, "ori_id": 2, "name": "tabletop", "children": [{"text": "tabletop_surface", "id": 3, "ori_id": 25, "name": "tabletop_surface", "children": [{"text": "board", "id": 4, "ori_id": 26, "objs": ["original-16", "original-17"], "name": "board"}], "objs": ["original-16", "original-17"]}], "objs": ["original-16", "original-17"]}, {"text": "drawer_base", "id": 5, "ori_id": 3, "name": "drawer_base", "children": [{"text": "cabinet_door", "id": 6, "ori_id": 4, "name": "cabinet_door", "children": [{"text": "cabinet_door_surface", "id": 7, "ori_id": 17, "objs": ["original-18"], "name": "cabinet_door_surface"}, {"text": "handle", "id": 8, "ori_id": 18, "objs": ["original-20"], "name": "handle"}], "objs": ["original-18", "original-20"]}, {"text": "shelf", "id": 9, "ori_id": 5, "objs": ["original-2"], "name": "shelf"}, {"text": "back_panel", "id": 10, "ori_id": 6, "objs": ["original-19"], "name": "back_panel"}, {"text": "vertical_side_panel", "id": 11, "ori_id": 7, "objs": ["original-8"], "name": "vertical_side_panel"}, {"text": "vertical_side_panel", "id": 12, "ori_id": 8, "objs": ["original-7"], "name": "vertical_side_panel"}, {"text": "leg", "id": 13, "ori_id": 9, "objs": ["original-10"], "name": "leg"}, {"text": "leg", "id": 14, "ori_id": 10, "objs": ["original-11"], "name": "leg"}, {"text": "leg", "id": 15, "ori_id": 11, "objs": ["original-1"], "name": "leg"}, {"text": "leg", "id": 16, "ori_id": 12, "objs": ["original-9"], "name": "leg"}, {"text": "tabletop_connector", "id": 17, "ori_id": 13, "objs": ["original-13"], "name": "tabletop_connector"}, {"text": "tabletop_connector", "id": 18, "ori_id": 14, "objs": ["original-12"], "name": "tabletop_connector"}, {"text": "tabletop_connector", "id": 19, "ori_id": 15, "objs": ["original-14"], "name": "tabletop_connector"}, {"text": "tabletop_connector", "id": 20, "ori_id": 16, "objs": ["original-15"], "name": "tabletop_connector"}, {"text": "bar_stretcher", "id": 21, "ori_id": 19, "objs": ["original-4"], "name": "bar_stretcher"}, {"text": "bar_stretcher", "id": 22, "ori_id": 20, "objs": ["original-6"], "name": "bar_stretcher"}, {"text": "bar_stretcher", "id": 23, "ori_id": 21, "objs": ["original-5"], "name": "bar_stretcher"}, {"text": "bar_stretcher", "id": 24, "ori_id": 22, "objs": ["original-3"], "name": "bar_stretcher"}], "objs": ["original-18", "original-20", "original-2", "original-19", "original-8", "original-7", "original-10", "original-11", "original-1", "original-9", "original-13", "original-12", "original-14", "original-15", "original-4", "original-6", "original-5", "original-3"]}], "objs": ["original-16", "original-17", "original-18", "original-20", "original-2", "original-19", "original-8", "original-7", "original-10", "original-11", "original-1", "original-9", "original-13", "original-12", "original-14", "original-15", "original-4", "original-6", "original-5", "original-3"]}], "objs": ["original-16", "original-17", "original-18", "original-20", "original-2", "original-19", "original-8", "original-7", "original-10", "original-11", "original-1", "original-9", "original-13", "original-12", "original-14", "original-15", "original-4", "original-6", "original-5", "original-3"]}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/32566/semantics.txt b/PartNetMobility/Table/32566/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f4ce94788c72441555646bd7a5cc4d78735654e
--- /dev/null
+++ b/PartNetMobility/Table/32566/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge door
+link_1 heavy furniture_body
diff --git a/PartNetMobility/Table/32566/tree_hier.html b/PartNetMobility/Table/32566/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..9be368095a56ad7b64ffb1b6f48989875de966ce
--- /dev/null
+++ b/PartNetMobility/Table/32566/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 desk Desk
2 tabletop Tabletop
3 drawer_base Drawer Base
25 tabletop_surface Tabletop surface
4 cabinet_door Cabinet door
5 shelf Shelf
6 back_panel Back panel
7 vertical_side_panel Vertical side panel
8 vertical_side_panel Vertical side panel
9 leg Leg
10 leg Leg
11 leg Leg
12 leg Leg
13 tabletop_connector Tabletop Connector
14 tabletop_connector Tabletop Connector
15 tabletop_connector Tabletop Connector
16 tabletop_connector Tabletop Connector
19 bar_stretcher Bar Stretcher
20 bar_stretcher Bar Stretcher
21 bar_stretcher Bar Stretcher
22 bar_stretcher Bar Stretcher
26 board Board
17 cabinet_door_surface Cabinet door surface
18 handle Handle
\ No newline at end of file
diff --git a/PartNetMobility/Table/32566/tree_hier_after_merging.html b/PartNetMobility/Table/32566/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..7fdd2cc99092cc6167b33f72f281d261af4c2a48
--- /dev/null
+++ b/PartNetMobility/Table/32566/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 drawer_base drawer_base
3 tabletop_surface tabletop_surface
6 cabinet_door cabinet_door
9 shelf shelf
10 back_panel back_panel
11 vertical_side_panel vertical_side_panel
12 vertical_side_panel vertical_side_panel
13 leg leg
14 leg leg
15 leg leg
16 leg leg
17 tabletop_connector tabletop_connector
18 tabletop_connector tabletop_connector
19 tabletop_connector tabletop_connector
20 tabletop_connector tabletop_connector
21 bar_stretcher bar_stretcher
22 bar_stretcher bar_stretcher
23 bar_stretcher bar_stretcher
24 bar_stretcher bar_stretcher
4 board board
7 cabinet_door_surface cabinet_door_surface
8 handle handle
\ No newline at end of file
diff --git a/PartNetMobility/Table/32601/semantics.txt b/PartNetMobility/Table/32601/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a11b2e735454365dac2245aa28954a1c9e80028
--- /dev/null
+++ b/PartNetMobility/Table/32601/semantics.txt
@@ -0,0 +1,5 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 slider drawer
+link_3 slider drawer
+link_4 heavy furniture_body
diff --git a/PartNetMobility/Table/32601/tree_hier.html b/PartNetMobility/Table/32601/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..f97b97e668a8824f226c61c5e39506f250656496
--- /dev/null
+++ b/PartNetMobility/Table/32601/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
15 tabletop_surface Tabletop surface
5 drawer_base Drawer Base
16 board Board
144 drawer Drawer
145 drawer Drawer
146 drawer Drawer
147 drawer Drawer
148 vertical_side_panel Vertical side panel
149 vertical_side_panel Vertical side panel
150 bottom_panel Bottom panel
151 leg Leg
152 leg Leg
153 leg Leg
154 leg Leg
155 foot Foot
156 foot Foot
157 foot Foot
158 foot Foot
159 bar_stretcher Bar Stretcher
160 bar_stretcher Bar Stretcher
161 bar_stretcher Bar Stretcher
162 bar_stretcher Bar Stretcher
163 bar_stretcher Bar Stretcher
164 bar_stretcher Bar Stretcher
165 bar_stretcher Bar Stretcher
166 bar_stretcher Bar Stretcher
167 bar_stretcher Bar Stretcher
168 bar_stretcher Bar Stretcher
169 bar_stretcher Bar Stretcher
170 bar_stretcher Bar Stretcher
171 bar_stretcher Bar Stretcher
172 bar_stretcher Bar Stretcher
173 bar_stretcher Bar Stretcher
174 bar_stretcher Bar Stretcher
175 bar_stretcher Bar Stretcher
176 bar_stretcher Bar Stretcher
177 bar_stretcher Bar Stretcher
178 bar_stretcher Bar Stretcher
179 tabletop_connector Tabletop Connector
180 tabletop_connector Tabletop Connector
181 tabletop_connector Tabletop Connector
182 tabletop_connector Tabletop Connector
205 drawer_box Drawer box
206 handle Handle
198 drawer_box Drawer box
199 handle Handle
191 drawer_box Drawer box
192 handle Handle
183 drawer_box Drawer box
184 handle Handle
207 drawer_front Drawer front
208 drawer_side Drawer side
209 drawer_side Drawer side
210 drawer_back Drawer back
211 drawer_bottom Drawer bottom
200 drawer_front Drawer front
201 drawer_side Drawer side
202 drawer_side Drawer side
203 drawer_back Drawer back
204 drawer_bottom Drawer bottom
193 drawer_front Drawer front
194 drawer_side Drawer side
195 drawer_side Drawer side
196 drawer_back Drawer back
197 drawer_bottom Drawer bottom
186 drawer_front Drawer front
187 drawer_side Drawer side
188 drawer_side Drawer side
189 drawer_back Drawer back
190 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/32625/bounding_box.json b/PartNetMobility/Table/32625/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2f7e09a3a78c772760938c9eaa0fbcde1395c48
--- /dev/null
+++ b/PartNetMobility/Table/32625/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.755551, -0.689505, -0.252872], "max": [0.760548, 0.36671, 0.252495]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/32625/meta.json b/PartNetMobility/Table/32625/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9955637bc008e23306ed02a65f9fbfef2a1ede8
--- /dev/null
+++ b/PartNetMobility/Table/32625/meta.json
@@ -0,0 +1 @@
+{"model_id": "b7c36f0afe9f16655b1ab0bf4891d200", "anno_id": "32625", "user_id": "shape17", "time_in_sec": "979", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/32625/mobility.urdf b/PartNetMobility/Table/32625/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8f2af15c83229b5226e2f0c3ffce5e48e8282610
--- /dev/null
+++ b/PartNetMobility/Table/32625/mobility.urdf
@@ -0,0 +1,599 @@
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diff --git a/PartNetMobility/Table/32625/mobility_v2.json b/PartNetMobility/Table/32625/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c4b97f955a862cac9631e25173ad3d26e8e30eb
--- /dev/null
+++ b/PartNetMobility/Table/32625/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":33,"name":"drawer_front","children":[]},{"id":34,"name":"drawer_side","children":[]},{"id":35,"name":"drawer_side","children":[]},{"id":36,"name":"drawer_back","children":[]},{"id":37,"name":"drawer_bottom","children":[]},{"id":30,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.32799999999999985,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":59,"name":"drawer_front","children":[]},{"id":60,"name":"drawer_side","children":[]},{"id":61,"name":"drawer_side","children":[]},{"id":62,"name":"drawer_back","children":[]},{"id":63,"name":"drawer_bottom","children":[]},{"id":58,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.32799999999999985,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":52,"name":"drawer_front","children":[]},{"id":53,"name":"drawer_side","children":[]},{"id":54,"name":"drawer_side","children":[]},{"id":55,"name":"drawer_back","children":[]},{"id":56,"name":"drawer_bottom","children":[]},{"id":51,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.32799999999999985,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":45,"name":"drawer_front","children":[]},{"id":46,"name":"drawer_side","children":[]},{"id":47,"name":"drawer_side","children":[]},{"id":48,"name":"drawer_back","children":[]},{"id":49,"name":"drawer_bottom","children":[]},{"id":44,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.32799999999999985,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":4,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":32,"name":"board","children":[]},{"id":21,"name":"shelf","children":[]},{"id":23,"name":"vertical_side_panel","children":[]},{"id":24,"name":"vertical_side_panel","children":[]},{"id":25,"name":"leg","children":[]},{"id":26,"name":"leg","children":[]},{"id":27,"name":"leg","children":[]},{"id":28,"name":"leg","children":[]},{"id":41,"name":"back_panel","children":[]},{"id":42,"name":"vertical_front_panel","children":[]},{"id":64,"name":"bar_stretcher","children":[]},{"id":65,"name":"bar_stretcher","children":[]},{"id":66,"name":"bar_stretcher","children":[]},{"id":67,"name":"bar_stretcher","children":[]},{"id":68,"name":"bar_stretcher","children":[]},{"id":69,"name":"bar_stretcher","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/32625/result.json b/PartNetMobility/Table/32625/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d4fde19dd1b5742c73addeded2c8242c0753a14
--- /dev/null
+++ b/PartNetMobility/Table/32625/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-5"], "id": 32, "name": "board"}], "id": 31, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["new-13"], "id": 33, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-11"], "id": 34, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-10"], "id": 35, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-12"], "id": 36, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-9", "new-8"], "id": 37, "name": "drawer_bottom"}], "id": 29, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-14", "original-16"], "id": 30, "name": "handle"}], "id": 20, "name": "drawer"}, {"text": "Shelf", "objs": ["original-10"], "id": 21, "name": "shelf"}, {"text": "Vertical side panel", "objs": ["original-3"], "id": 23, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-4"], "id": 24, "name": "vertical_side_panel"}, {"text": "Leg", "objs": ["original-7"], "id": 25, "name": "leg"}, {"text": "Leg", "objs": ["original-8"], "id": 26, "name": "leg"}, {"text": "Leg", "objs": ["original-9"], "id": 27, "name": "leg"}, {"text": "Leg", "objs": ["original-6"], "id": 28, "name": "leg"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["new-29"], "id": 59, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-30"], "id": 60, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-31"], "id": 61, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-28"], "id": 62, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-26", "new-27"], "id": 63, "name": "drawer_bottom"}], "id": 57, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-32"], "id": 58, "name": "handle"}], "id": 38, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["new-16"], "id": 52, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-18"], "id": 53, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-19"], "id": 54, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-17"], "id": 55, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-14", "new-15"], "id": 56, "name": "drawer_bottom"}], "id": 50, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-27"], "id": 51, "name": "handle"}], "id": 39, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["new-23"], "id": 45, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-25"], "id": 46, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-24"], "id": 47, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-21"], "id": 48, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-20", "new-22"], "id": 49, "name": "drawer_bottom"}], "id": 43, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-21", "original-23"], "id": 44, "name": "handle"}], "id": 40, "name": "drawer"}, {"text": "Back panel", "objs": ["new-0"], "id": 41, "name": "back_panel"}, {"text": "Vertical Front Panel", "objs": ["new-7"], "id": 42, "name": "vertical_front_panel"}, {"text": "Bar Stretcher", "objs": ["new-1"], "id": 64, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["new-3"], "id": 65, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["new-2"], "id": 66, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["new-6"], "id": 67, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["new-4"], "id": 68, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["new-5"], "id": 69, "name": "bar_stretcher"}], "id": 3, "name": "drawer_base"}], "id": 1, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/32625/result_after_merging.json b/PartNetMobility/Table/32625/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b6fa0922b486722b682a92227770ae021e88637
--- /dev/null
+++ b/PartNetMobility/Table/32625/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"children": [{"objs": ["original-5"], "id": 4, "name": "board", "text": "board", "ori_id": 32}], "id": 3, "text": "tabletop_surface", "objs": ["original-5"], "ori_id": 31, "name": "tabletop_surface"}], "id": 2, "text": "tabletop", "objs": ["original-5"], "ori_id": 2, "name": "tabletop"}, {"children": [{"children": [{"children": [{"objs": ["new-13"], "id": 8, "name": "drawer_front", "text": "drawer_front", "ori_id": 33}, {"objs": ["new-11"], "id": 9, "name": "drawer_side", "text": "drawer_side", "ori_id": 34}, {"objs": ["new-10"], "id": 10, "name": "drawer_side", "text": "drawer_side", "ori_id": 35}, {"objs": ["new-12"], "id": 11, "name": "drawer_back", "text": "drawer_back", "ori_id": 36}, {"objs": ["new-9", "new-8"], "id": 12, "name": "drawer_bottom", "text": "drawer_bottom", "ori_id": 37}], "id": 7, "text": "drawer_box", "objs": ["new-13", "new-11", "new-10", "new-12", "new-9", "new-8"], "ori_id": 29, "name": "drawer_box"}, {"objs": ["original-14", "original-16"], "id": 13, "name": "handle", "text": "handle", "ori_id": 30}], "id": 6, "text": "drawer", "objs": ["new-13", "new-11", "new-10", "new-12", "new-9", "new-8", "original-14", "original-16"], "ori_id": 20, "name": "drawer"}, {"objs": ["original-10"], "id": 14, "name": "shelf", "text": "shelf", "ori_id": 21}, {"objs": ["original-3"], "id": 15, "name": "vertical_side_panel", "text": "vertical_side_panel", "ori_id": 23}, {"objs": ["original-4"], "id": 16, "name": "vertical_side_panel", "text": "vertical_side_panel", "ori_id": 24}, {"objs": ["original-7"], "id": 17, "name": "leg", "text": "leg", "ori_id": 25}, {"objs": ["original-8"], "id": 18, "name": "leg", "text": "leg", "ori_id": 26}, {"objs": ["original-9"], "id": 19, "name": "leg", "text": "leg", "ori_id": 27}, {"objs": ["original-6"], "id": 20, "name": "leg", "text": "leg", "ori_id": 28}, {"children": [{"children": [{"objs": ["new-29"], "id": 23, "name": "drawer_front", "text": "drawer_front", "ori_id": 59}, {"objs": ["new-30"], "id": 24, "name": "drawer_side", "text": "drawer_side", "ori_id": 60}, {"objs": ["new-31"], "id": 25, "name": "drawer_side", "text": "drawer_side", "ori_id": 61}, {"objs": ["new-28"], "id": 26, "name": "drawer_back", "text": "drawer_back", "ori_id": 62}, {"objs": ["new-26", "new-27"], "id": 27, "name": "drawer_bottom", "text": "drawer_bottom", "ori_id": 63}], "id": 22, "text": "drawer_box", "objs": ["new-29", "new-30", "new-31", "new-28", "new-26", "new-27"], "ori_id": 57, "name": "drawer_box"}, {"objs": ["original-32"], "id": 28, "name": "handle", "text": "handle", "ori_id": 58}], "id": 21, "text": "drawer", "objs": ["new-29", "new-30", "new-31", "new-28", "new-26", "new-27", "original-32"], "ori_id": 38, "name": "drawer"}, {"children": [{"children": [{"objs": ["new-16"], "id": 31, "name": "drawer_front", "text": "drawer_front", "ori_id": 52}, {"objs": ["new-18"], "id": 32, "name": "drawer_side", "text": "drawer_side", "ori_id": 53}, {"objs": ["new-19"], "id": 33, "name": "drawer_side", "text": "drawer_side", "ori_id": 54}, {"objs": ["new-17"], "id": 34, "name": "drawer_back", "text": "drawer_back", "ori_id": 55}, {"objs": ["new-14", "new-15"], "id": 35, "name": "drawer_bottom", "text": "drawer_bottom", "ori_id": 56}], "id": 30, "text": "drawer_box", "objs": ["new-16", "new-18", "new-19", "new-17", "new-14", "new-15"], "ori_id": 50, "name": "drawer_box"}, {"objs": ["original-27"], "id": 36, "name": "handle", "text": "handle", "ori_id": 51}], "id": 29, "text": "drawer", "objs": ["new-16", "new-18", "new-19", "new-17", "new-14", "new-15", "original-27"], "ori_id": 39, "name": "drawer"}, {"children": [{"children": [{"objs": ["new-23"], "id": 39, "name": "drawer_front", "text": "drawer_front", "ori_id": 45}, {"objs": ["new-25"], "id": 40, "name": "drawer_side", "text": "drawer_side", "ori_id": 46}, {"objs": ["new-24"], "id": 41, "name": "drawer_side", "text": "drawer_side", "ori_id": 47}, {"objs": ["new-21"], "id": 42, "name": "drawer_back", "text": "drawer_back", "ori_id": 48}, {"objs": ["new-20", "new-22"], "id": 43, "name": "drawer_bottom", "text": "drawer_bottom", "ori_id": 49}], "id": 38, "text": "drawer_box", "objs": ["new-23", "new-25", "new-24", "new-21", "new-20", "new-22"], "ori_id": 43, "name": "drawer_box"}, {"objs": ["original-21", "original-23"], "id": 44, "name": "handle", "text": "handle", "ori_id": 44}], "id": 37, "text": "drawer", "objs": ["new-23", "new-25", "new-24", "new-21", "new-20", "new-22", "original-21", "original-23"], "ori_id": 40, "name": "drawer"}, {"objs": ["new-0"], "id": 45, "name": "back_panel", "text": "back_panel", "ori_id": 41}, {"objs": ["new-7"], "id": 46, "name": "vertical_front_panel", "text": "vertical_front_panel", "ori_id": 42}, {"objs": ["new-1"], "id": 47, "name": "bar_stretcher", "text": "bar_stretcher", "ori_id": 64}, {"objs": ["new-3"], "id": 48, "name": "bar_stretcher", "text": "bar_stretcher", "ori_id": 65}, {"objs": ["new-2"], "id": 49, "name": "bar_stretcher", "text": "bar_stretcher", "ori_id": 66}, {"objs": ["new-6"], "id": 50, "name": "bar_stretcher", "text": "bar_stretcher", "ori_id": 67}, {"objs": ["new-4"], "id": 51, "name": "bar_stretcher", "text": "bar_stretcher", "ori_id": 68}, {"objs": ["new-5"], "id": 52, "name": "bar_stretcher", "text": "bar_stretcher", "ori_id": 69}], "id": 5, "text": "drawer_base", "objs": ["new-13", "new-11", "new-10", "new-12", "new-9", "new-8", "original-14", "original-16", "original-10", "original-3", "original-4", "original-7", "original-8", "original-9", "original-6", "new-29", "new-30", "new-31", "new-28", "new-26", "new-27", "original-32", "new-16", "new-18", "new-19", "new-17", "new-14", "new-15", "original-27", "new-23", "new-25", "new-24", "new-21", "new-20", "new-22", "original-21", "original-23", "new-0", "new-7", "new-1", "new-3", "new-2", "new-6", "new-4", "new-5"], "ori_id": 3, "name": "drawer_base"}], "id": 1, "text": "regular_table", "objs": ["original-5", "new-13", "new-11", "new-10", "new-12", "new-9", "new-8", "original-14", "original-16", "original-10", "original-3", "original-4", "original-7", "original-8", "original-9", "original-6", "new-29", "new-30", "new-31", "new-28", "new-26", "new-27", "original-32", "new-16", "new-18", "new-19", "new-17", "new-14", "new-15", "original-27", "new-23", "new-25", "new-24", "new-21", "new-20", "new-22", "original-21", "original-23", "new-0", "new-7", "new-1", "new-3", "new-2", "new-6", "new-4", "new-5"], "ori_id": 1, "name": "regular_table"}], "id": 0, "text": "table", "objs": ["original-5", "new-13", "new-11", "new-10", "new-12", "new-9", "new-8", "original-14", "original-16", "original-10", "original-3", "original-4", "original-7", "original-8", "original-9", "original-6", "new-29", "new-30", "new-31", "new-28", "new-26", "new-27", "original-32", "new-16", "new-18", "new-19", "new-17", "new-14", "new-15", "original-27", "new-23", "new-25", "new-24", "new-21", "new-20", "new-22", "original-21", "original-23", 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\ No newline at end of file
diff --git a/PartNetMobility/Table/32625/semantics.txt b/PartNetMobility/Table/32625/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a11b2e735454365dac2245aa28954a1c9e80028
--- /dev/null
+++ b/PartNetMobility/Table/32625/semantics.txt
@@ -0,0 +1,5 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 slider drawer
+link_3 slider drawer
+link_4 heavy furniture_body
diff --git a/PartNetMobility/Table/32625/tree_hier.html b/PartNetMobility/Table/32625/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..6a6ebebc15f3b0825a43004342191cd44832acd3
--- /dev/null
+++ b/PartNetMobility/Table/32625/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 desk Desk
2 tabletop Tabletop
3 drawer_base Drawer Base
31 tabletop_surface Tabletop surface
20 drawer Drawer
21 shelf Shelf
23 vertical_side_panel Vertical side panel
24 vertical_side_panel Vertical side panel
25 leg Leg
26 leg Leg
27 leg Leg
28 leg Leg
38 drawer Drawer
39 drawer Drawer
40 drawer Drawer
41 back_panel Back panel
42 vertical_front_panel Vertical Front Panel
64 bar_stretcher Bar Stretcher
65 bar_stretcher Bar Stretcher
66 bar_stretcher Bar Stretcher
67 bar_stretcher Bar Stretcher
68 bar_stretcher Bar Stretcher
69 bar_stretcher Bar Stretcher
32 board Board
29 drawer_box Drawer box
30 handle Handle
57 drawer_box Drawer box
58 handle Handle
50 drawer_box Drawer box
51 handle Handle
43 drawer_box Drawer box
44 handle Handle
33 drawer_front Drawer front
34 drawer_side Drawer side
35 drawer_side Drawer side
36 drawer_back Drawer back
37 drawer_bottom Drawer bottom
59 drawer_front Drawer front
60 drawer_side Drawer side
61 drawer_side Drawer side
62 drawer_back Drawer back
63 drawer_bottom Drawer bottom
52 drawer_front Drawer front
53 drawer_side Drawer side
54 drawer_side Drawer side
55 drawer_back Drawer back
56 drawer_bottom Drawer bottom
45 drawer_front Drawer front
46 drawer_side Drawer side
47 drawer_side Drawer side
48 drawer_back Drawer back
49 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/32625/tree_hier_after_merging.html b/PartNetMobility/Table/32625/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..aefe2edafd191024392b4bf308cbbfc4c54503e7
--- /dev/null
+++ b/PartNetMobility/Table/32625/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 drawer_base drawer_base
3 tabletop_surface tabletop_surface
6 drawer drawer
14 shelf shelf
15 vertical_side_panel vertical_side_panel
16 vertical_side_panel vertical_side_panel
17 leg leg
18 leg leg
19 leg leg
20 leg leg
21 drawer drawer
29 drawer drawer
37 drawer drawer
45 back_panel back_panel
46 vertical_front_panel vertical_front_panel
47 bar_stretcher bar_stretcher
48 bar_stretcher bar_stretcher
49 bar_stretcher bar_stretcher
50 bar_stretcher bar_stretcher
51 bar_stretcher bar_stretcher
52 bar_stretcher bar_stretcher
4 board board
7 drawer_box drawer_box
13 handle handle
22 drawer_box drawer_box
28 handle handle
30 drawer_box drawer_box
36 handle handle
38 drawer_box drawer_box
44 handle handle
8 drawer_front drawer_front
9 drawer_side drawer_side
10 drawer_side drawer_side
11 drawer_back drawer_back
12 drawer_bottom drawer_bottom
23 drawer_front drawer_front
24 drawer_side drawer_side
25 drawer_side drawer_side
26 drawer_back drawer_back
27 drawer_bottom drawer_bottom
31 drawer_front drawer_front
32 drawer_side drawer_side
33 drawer_side drawer_side
34 drawer_back drawer_back
35 drawer_bottom drawer_bottom
39 drawer_front drawer_front
40 drawer_side drawer_side
41 drawer_side drawer_side
42 drawer_back drawer_back
43 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/32761/bounding_box.json b/PartNetMobility/Table/32761/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..de32159b54344bdebf93ccbd5ad253e2a18b0b7a
--- /dev/null
+++ b/PartNetMobility/Table/32761/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.903283, -0.475472, -0.286048], "max": [0.528489, 0.348678, 0.323545]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/32761/meta.json b/PartNetMobility/Table/32761/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69720d90271d7c4459b6b7c2a52a4564d5790a16
--- /dev/null
+++ b/PartNetMobility/Table/32761/meta.json
@@ -0,0 +1 @@
+{"model_id": "efe2bb181502eac1f3c9c1464e55d580", "anno_id": "32761", "user_id": "chuangda003", "time_in_sec": "541", "version": "4", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/32761/mobility.urdf b/PartNetMobility/Table/32761/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..87fc35a3062aaafc90d05627aa6cafba33da42e0
--- /dev/null
+++ b/PartNetMobility/Table/32761/mobility.urdf
@@ -0,0 +1,479 @@
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diff --git a/PartNetMobility/Table/32761/mobility_v2.json b/PartNetMobility/Table/32761/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8bd29f2594eb60da1bad12e41122d266a96c9d1
--- /dev/null
+++ b/PartNetMobility/Table/32761/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":38,"name":"drawer_front","children":[]},{"id":41,"name":"drawer_side","children":[]},{"id":42,"name":"drawer_side","children":[]},{"id":43,"name":"drawer_back","children":[]},{"id":44,"name":"drawer_bottom","children":[]},{"id":37,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.3679999999999999,"noLimit":false}}},{"id":1,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":45,"name":"drawer_front","children":[]},{"id":46,"name":"drawer_side","children":[]},{"id":47,"name":"drawer_side","children":[]},{"id":48,"name":"drawer_back","children":[]},{"id":49,"name":"drawer_bottom","children":[]},{"id":34,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.3679999999999999,"noLimit":false}}},{"id":2,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":50,"name":"drawer_front","children":[]},{"id":51,"name":"drawer_side","children":[]},{"id":52,"name":"drawer_side","children":[]},{"id":53,"name":"drawer_back","children":[]},{"id":54,"name":"drawer_bottom","children":[]},{"id":31,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.3679999999999999,"noLimit":false}}},{"id":3,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":29,"name":"drawer_front","children":[]},{"id":55,"name":"drawer_side","children":[]},{"id":56,"name":"drawer_side","children":[]},{"id":57,"name":"drawer_back","children":[]},{"id":58,"name":"drawer_bottom","children":[]},{"id":28,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.3679999999999999,"noLimit":false}}},{"id":4,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":40,"name":"board","children":[]},{"id":10,"name":"vertical_side_panel","children":[]},{"id":11,"name":"vertical_side_panel","children":[]},{"id":12,"name":"vertical_side_panel","children":[]},{"id":14,"name":"bottom_panel","children":[]},{"id":15,"name":"bar_stretcher","children":[]},{"id":21,"name":"base_side_panel","children":[]},{"id":26,"name":"back_panel","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/32761/result.json b/PartNetMobility/Table/32761/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb155d33185ca6bc8036bc15df28c58643231311
--- /dev/null
+++ b/PartNetMobility/Table/32761/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-1"], "id": 40, "name": "board"}], "id": 39, "name": "tabletop_surface"}], "id": 3, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Vertical side panel", "objs": ["original-2"], "id": 10, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-7"], "id": 11, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-6"], "id": 12, "name": "vertical_side_panel"}, {"text": "Bottom panel", "objs": ["original-3"], "id": 14, "name": "bottom_panel"}, {"text": "Bar Stretcher", "objs": ["original-4"], "id": 15, "name": "bar_stretcher"}, {"text": "Base side panel", "objs": ["original-5"], "id": 21, "name": "base_side_panel"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-19", "original-22"], "id": 38, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-21"], "id": 41, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-23"], "id": 42, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-20"], "id": 43, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-18"], "id": 44, "name": "drawer_bottom"}], "id": 36, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-24"], "id": 37, "name": "handle"}], "id": 22, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-27", "original-30"], "id": 45, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-31"], "id": 46, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-29"], "id": 47, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-28"], "id": 48, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-26"], "id": 49, "name": "drawer_bottom"}], "id": 33, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-32"], "id": 34, "name": "handle"}], "id": 23, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-11", "original-14"], "id": 50, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-15"], "id": 51, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-13"], "id": 52, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-12"], "id": 53, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-10"], "id": 54, "name": "drawer_bottom"}], "id": 30, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-16"], "id": 31, "name": "handle"}], "id": 24, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-35", "original-38"], "id": 29, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-39"], "id": 55, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-37"], "id": 56, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-36"], "id": 57, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-34"], "id": 58, "name": "drawer_bottom"}], "id": 27, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-40"], "id": 28, "name": "handle"}], "id": 25, "name": "drawer"}, {"text": "Back panel", "objs": ["original-8"], "id": 26, "name": "back_panel"}], "id": 4, "name": "drawer_base"}], "id": 2, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/32761/result_after_merging.json b/PartNetMobility/Table/32761/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f3866e8afa450cea4c71d597df811426b46cf94
--- /dev/null
+++ b/PartNetMobility/Table/32761/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"children": [{"objs": ["original-1"], "id": 4, "ori_id": 40, "text": "board", "name": "board"}], "ori_id": 39, "text": "tabletop_surface", "name": "tabletop_surface", "id": 3, "objs": ["original-1"]}], "ori_id": 3, "text": "tabletop", "name": "tabletop", "id": 2, "objs": ["original-1"]}, {"children": [{"objs": ["original-2"], "id": 6, "ori_id": 10, "text": "vertical_side_panel", "name": "vertical_side_panel"}, {"objs": ["original-7"], "id": 7, "ori_id": 11, "text": "vertical_side_panel", "name": "vertical_side_panel"}, {"objs": ["original-6"], "id": 8, "ori_id": 12, "text": "vertical_side_panel", "name": "vertical_side_panel"}, {"objs": ["original-3"], "id": 9, "ori_id": 14, "text": "bottom_panel", "name": "bottom_panel"}, {"objs": ["original-4"], "id": 10, "ori_id": 15, "text": "bar_stretcher", "name": "bar_stretcher"}, {"children": [{"children": [{"objs": ["original-19", "original-22"], "id": 13, "ori_id": 38, "text": "drawer_front", 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\ No newline at end of file
diff --git a/PartNetMobility/Table/32761/semantics.txt b/PartNetMobility/Table/32761/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a11b2e735454365dac2245aa28954a1c9e80028
--- /dev/null
+++ b/PartNetMobility/Table/32761/semantics.txt
@@ -0,0 +1,5 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 slider drawer
+link_3 slider drawer
+link_4 heavy furniture_body
diff --git a/PartNetMobility/Table/32761/tree_hier.html b/PartNetMobility/Table/32761/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..272773d3622d6f8f35450b6b1dc217efdc9ab47f
--- /dev/null
+++ b/PartNetMobility/Table/32761/tree_hier.html
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+Simple Viewer
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3 tabletop Tabletop
4 drawer_base Drawer Base
39 tabletop_surface Tabletop surface
10 vertical_side_panel Vertical side panel
11 vertical_side_panel Vertical side panel
12 vertical_side_panel Vertical side panel
14 bottom_panel Bottom panel
15 bar_stretcher Bar Stretcher
21 base_side_panel Base side panel
22 drawer Drawer
23 drawer Drawer
24 drawer Drawer
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40 board Board
36 drawer_box Drawer box
37 handle Handle
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34 handle Handle
30 drawer_box Drawer box
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28 handle Handle
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41 drawer_side Drawer side
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43 drawer_back Drawer back
44 drawer_bottom Drawer bottom
45 drawer_front Drawer front
46 drawer_side Drawer side
47 drawer_side Drawer side
48 drawer_back Drawer back
49 drawer_bottom Drawer bottom
50 drawer_front Drawer front
51 drawer_side Drawer side
52 drawer_side Drawer side
53 drawer_back Drawer back
54 drawer_bottom Drawer bottom
29 drawer_front Drawer front
55 drawer_side Drawer side
56 drawer_side Drawer side
57 drawer_back Drawer back
58 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/32761/tree_hier_after_merging.html b/PartNetMobility/Table/32761/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..7e726dc9be6b859195e9f57f020a2a1759410883
--- /dev/null
+++ b/PartNetMobility/Table/32761/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
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3 tabletop_surface tabletop_surface
6 vertical_side_panel vertical_side_panel
7 vertical_side_panel vertical_side_panel
8 vertical_side_panel vertical_side_panel
9 bottom_panel bottom_panel
10 bar_stretcher bar_stretcher
11 drawer drawer
19 drawer drawer
27 drawer drawer
35 drawer drawer
43 back_panel back_panel
4 board board
12 drawer_box drawer_box
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26 handle handle
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36 drawer_box drawer_box
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14 drawer_side drawer_side
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16 drawer_back drawer_back
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\ No newline at end of file
diff --git a/PartNetMobility/Table/32932/bounding_box.json b/PartNetMobility/Table/32932/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..426c704e9bcfa00363069d7c420f3f916219d2c0
--- /dev/null
+++ b/PartNetMobility/Table/32932/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.738986, -0.779016, -0.302096], "max": [0.783576, 0.134521, 0.306928]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/32932/meta.json b/PartNetMobility/Table/32932/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42a1d0c554b8cf7f31cf50bd4f32ac1369e6e4d6
--- /dev/null
+++ b/PartNetMobility/Table/32932/meta.json
@@ -0,0 +1 @@
+{"model_id": "f66d010471970cf0391e4d6c585a697a", "anno_id": "32932", "user_id": "shape16", "time_in_sec": "286", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/32932/mobility.urdf b/PartNetMobility/Table/32932/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9169762233427b83c811f79df822f916b721af72
--- /dev/null
+++ b/PartNetMobility/Table/32932/mobility.urdf
@@ -0,0 +1,485 @@
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diff --git a/PartNetMobility/Table/32932/mobility_v2.json b/PartNetMobility/Table/32932/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d40cd55926333a195c8fe1d76484d84ca77c44c
--- /dev/null
+++ b/PartNetMobility/Table/32932/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"slider","name":"drawer","parts":[{"id":15,"name":"drawer_front","children":[]},{"id":16,"name":"drawer_side","children":[]},{"id":17,"name":"drawer_side","children":[]},{"id":18,"name":"drawer_back","children":[]},{"id":19,"name":"drawer_bottom","children":[]},{"id":14,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.33199999999999985,"noLimit":false}}},{"id":1,"parent":2,"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":41,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.33199999999999985,"noLimit":false}}},{"id":2,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":39,"name":"board","children":[]},{"id":6,"name":"back_panel","children":[]},{"id":7,"name":"vertical_side_panel","children":[]},{"id":8,"name":"vertical_side_panel","children":[]},{"id":9,"name":"leg","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":21,"name":"bar_stretcher","children":[]},{"id":22,"name":"bar_stretcher","children":[]},{"id":23,"name":"bar_stretcher","children":[]},{"id":24,"name":"bar_stretcher","children":[]},{"id":25,"name":"bar_stretcher","children":[]},{"id":26,"name":"bar_stretcher","children":[]},{"id":27,"name":"bar_stretcher","children":[]},{"id":28,"name":"bar_stretcher","children":[]},{"id":29,"name":"bar_stretcher","children":[]},{"id":30,"name":"bar_stretcher","children":[]},{"id":31,"name":"bar_stretcher","children":[]},{"id":32,"name":"bar_stretcher","children":[]},{"id":33,"name":"tabletop_connector","children":[]},{"id":35,"name":"bar_stretcher","children":[]},{"id":37,"name":"bar_stretcher","children":[]},{"id":47,"name":"bar_stretcher","children":[]},{"id":48,"name":"bar_stretcher","children":[]},{"id":49,"name":"bar_stretcher","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/32932/result.json b/PartNetMobility/Table/32932/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..88aa2722e49d496fcc38fe2a28cf817dfeb74695
--- /dev/null
+++ b/PartNetMobility/Table/32932/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-40"], "id": 39, "name": "board"}], "id": 38, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-6"], "id": 15, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-8"], "id": 16, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-2"], "id": 17, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-7"], "id": 18, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-5"], "id": 19, "name": "drawer_bottom"}], "id": 13, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-9"], "id": 14, "name": "handle"}], "id": 5, "name": "drawer"}, {"text": "Back panel", "objs": ["original-25"], "id": 6, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-22"], "id": 7, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-21"], "id": 8, "name": "vertical_side_panel"}, {"text": "Leg", "objs": ["original-20"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["original-24"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-23"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-19"], "id": 12, "name": "leg"}, {"text": "Bar Stretcher", "objs": ["original-4"], "id": 21, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-37"], "id": 22, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-27"], "id": 23, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-36"], "id": 24, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-3"], "id": 25, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-38"], "id": 26, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-34"], "id": 27, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-13"], "id": 28, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-29"], "id": 29, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-30"], "id": 30, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-35"], "id": 31, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-28"], "id": 32, "name": "bar_stretcher"}, {"text": "Tabletop Connector", "objs": ["original-26"], "id": 33, "name": "tabletop_connector"}, {"text": "Bar Stretcher", "objs": ["original-12"], "id": 35, "name": "bar_stretcher"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-15"], "id": 42, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-11"], "id": 43, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-17"], "id": 44, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-16"], "id": 45, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-14"], "id": 46, "name": "drawer_bottom"}], "id": 40, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-18"], "id": 41, "name": "handle"}], "id": 36, "name": "drawer"}, {"text": "Bar Stretcher", "objs": ["original-39"], "id": 37, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-31"], "id": 47, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-33"], "id": 48, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-32"], "id": 49, "name": "bar_stretcher"}], "id": 3, "name": "drawer_base"}], "id": 1, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/32932/result_after_merging.json b/PartNetMobility/Table/32932/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdfa6d0de05d3a505712928ac78aec5d6cdd63f7
--- /dev/null
+++ b/PartNetMobility/Table/32932/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["original-40", "original-6", "original-8", "original-2", "original-7", "original-5", "original-9", "original-25", "original-22", "original-21", "original-20", "original-24", "original-23", "original-19", "original-4", "original-37", "original-27", "original-36", "original-3", "original-38", "original-34", "original-13", "original-29", "original-30", "original-35", "original-28", "original-26", "original-12", "original-15", "original-11", "original-17", "original-16", "original-14", "original-18", "original-39", "original-31", "original-33", "original-32"], "id": 0, "name": "table", "text": "table", "children": [{"objs": ["original-40", "original-6", "original-8", "original-2", "original-7", "original-5", "original-9", "original-25", "original-22", "original-21", "original-20", "original-24", "original-23", "original-19", "original-4", "original-37", "original-27", "original-36", "original-3", "original-38", "original-34", "original-13", "original-29", "original-30", "original-35", "original-28", "original-26", "original-12", "original-15", "original-11", "original-17", "original-16", "original-14", "original-18", "original-39", "original-31", "original-33", "original-32"], "id": 1, "name": "regular_table", "text": "regular_table", "children": [{"objs": ["original-40"], "id": 2, "name": "tabletop", "text": "tabletop", "children": [{"objs": ["original-40"], "id": 3, "name": "tabletop_surface", "text": "tabletop_surface", "children": [{"id": 4, "name": "board", "ori_id": 39, "objs": ["original-40"], "text": "board"}], "ori_id": 38}], "ori_id": 2}, {"objs": ["original-6", "original-8", "original-2", "original-7", "original-5", "original-9", "original-25", "original-22", "original-21", "original-20", "original-24", "original-23", "original-19", "original-4", "original-37", "original-27", "original-36", "original-3", "original-38", "original-34", "original-13", "original-29", "original-30", "original-35", "original-28", "original-26", "original-12", "original-15", "original-11", "original-17", "original-16", "original-14", "original-18", "original-39", "original-31", "original-33", "original-32"], "id": 5, "name": "drawer_base", "text": "drawer_base", "children": [{"objs": ["original-6", "original-8", "original-2", "original-7", "original-5", "original-9"], "id": 6, "name": "drawer", "text": "drawer", "children": [{"objs": ["original-6", "original-8", "original-2", "original-7", "original-5"], "id": 7, "name": "drawer_box", "text": "drawer_box", "children": [{"id": 8, "name": "drawer_front", "ori_id": 15, "objs": ["original-6"], "text": "drawer_front"}, {"id": 9, "name": "drawer_side", "ori_id": 16, "objs": ["original-8"], "text": "drawer_side"}, {"id": 10, "name": "drawer_side", "ori_id": 17, "objs": ["original-2"], "text": "drawer_side"}, {"id": 11, "name": "drawer_back", "ori_id": 18, "objs": ["original-7"], "text": "drawer_back"}, {"id": 12, "name": "drawer_bottom", "ori_id": 19, "objs": ["original-5"], "text": "drawer_bottom"}], "ori_id": 13}, {"id": 13, "name": "handle", "ori_id": 14, "objs": ["original-9"], "text": "handle"}], "ori_id": 5}, {"id": 14, "name": "back_panel", "ori_id": 6, "objs": ["original-25"], "text": "back_panel"}, {"id": 15, "name": "vertical_side_panel", "ori_id": 7, "objs": ["original-22"], "text": "vertical_side_panel"}, {"id": 16, "name": "vertical_side_panel", "ori_id": 8, "objs": ["original-21"], "text": "vertical_side_panel"}, {"id": 17, "name": "leg", "ori_id": 9, "objs": ["original-20"], "text": "leg"}, {"id": 18, "name": "leg", "ori_id": 10, "objs": ["original-24"], "text": "leg"}, {"id": 19, "name": "leg", "ori_id": 11, "objs": ["original-23"], "text": "leg"}, {"id": 20, "name": "leg", "ori_id": 12, "objs": ["original-19"], "text": "leg"}, {"id": 21, "name": "bar_stretcher", "ori_id": 21, "objs": ["original-4"], "text": "bar_stretcher"}, {"id": 22, "name": "bar_stretcher", "ori_id": 22, "objs": ["original-37"], "text": "bar_stretcher"}, {"id": 23, "name": "bar_stretcher", "ori_id": 23, "objs": ["original-27"], "text": "bar_stretcher"}, {"id": 24, "name": "bar_stretcher", "ori_id": 24, "objs": ["original-36"], "text": "bar_stretcher"}, {"id": 25, "name": "bar_stretcher", "ori_id": 25, "objs": ["original-3"], "text": "bar_stretcher"}, {"id": 26, "name": "bar_stretcher", "ori_id": 26, "objs": ["original-38"], "text": "bar_stretcher"}, {"id": 27, "name": "bar_stretcher", "ori_id": 27, "objs": ["original-34"], "text": "bar_stretcher"}, {"id": 28, "name": "bar_stretcher", "ori_id": 28, "objs": ["original-13"], "text": "bar_stretcher"}, {"id": 29, "name": "bar_stretcher", "ori_id": 29, "objs": ["original-29"], "text": "bar_stretcher"}, {"id": 30, "name": "bar_stretcher", "ori_id": 30, "objs": ["original-30"], "text": "bar_stretcher"}, {"id": 31, "name": "bar_stretcher", "ori_id": 31, "objs": ["original-35"], "text": "bar_stretcher"}, {"id": 32, "name": "bar_stretcher", "ori_id": 32, "objs": ["original-28"], "text": "bar_stretcher"}, {"id": 33, "name": "tabletop_connector", "ori_id": 33, "objs": ["original-26"], "text": "tabletop_connector"}, {"id": 34, "name": "bar_stretcher", "ori_id": 35, "objs": ["original-12"], "text": "bar_stretcher"}, {"objs": ["original-15", "original-11", "original-17", "original-16", "original-14", "original-18"], "id": 35, "name": "drawer", "text": "drawer", "children": [{"objs": ["original-15", "original-11", "original-17", "original-16", "original-14"], "id": 36, "name": "drawer_box", "text": "drawer_box", "children": [{"id": 37, "name": "drawer_front", "ori_id": 42, "objs": ["original-15"], "text": "drawer_front"}, {"id": 38, "name": "drawer_side", "ori_id": 43, "objs": ["original-11"], "text": "drawer_side"}, {"id": 39, "name": "drawer_side", "ori_id": 44, "objs": ["original-17"], "text": "drawer_side"}, {"id": 40, "name": "drawer_back", "ori_id": 45, "objs": ["original-16"], "text": "drawer_back"}, {"id": 41, "name": "drawer_bottom", "ori_id": 46, "objs": ["original-14"], "text": "drawer_bottom"}], "ori_id": 40}, {"id": 42, "name": "handle", "ori_id": 41, "objs": ["original-18"], "text": "handle"}], "ori_id": 36}, {"id": 43, "name": "bar_stretcher", "ori_id": 37, "objs": ["original-39"], "text": "bar_stretcher"}, {"id": 44, "name": "bar_stretcher", "ori_id": 47, "objs": ["original-31"], "text": "bar_stretcher"}, {"id": 45, "name": "bar_stretcher", "ori_id": 48, "objs": ["original-33"], "text": "bar_stretcher"}, {"id": 46, "name": "bar_stretcher", "ori_id": 49, "objs": ["original-32"], "text": "bar_stretcher"}], "ori_id": 3}], "ori_id": 1}], "ori_id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/32932/semantics.txt b/PartNetMobility/Table/32932/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d9ab475d8182a0ea8f8bb40bec8f63c07a539f15
--- /dev/null
+++ b/PartNetMobility/Table/32932/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 heavy furniture_body
diff --git a/PartNetMobility/Table/32932/tree_hier.html b/PartNetMobility/Table/32932/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..98e02d5740005e400644221f6b0d741d7004907e
--- /dev/null
+++ b/PartNetMobility/Table/32932/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 desk Desk
2 tabletop Tabletop
3 drawer_base Drawer Base
38 tabletop_surface Tabletop surface
5 drawer Drawer
6 back_panel Back panel
7 vertical_side_panel Vertical side panel
8 vertical_side_panel Vertical side panel
9 leg Leg
10 leg Leg
11 leg Leg
12 leg Leg
21 bar_stretcher Bar Stretcher
22 bar_stretcher Bar Stretcher
23 bar_stretcher Bar Stretcher
24 bar_stretcher Bar Stretcher
25 bar_stretcher Bar Stretcher
26 bar_stretcher Bar Stretcher
27 bar_stretcher Bar Stretcher
28 bar_stretcher Bar Stretcher
29 bar_stretcher Bar Stretcher
30 bar_stretcher Bar Stretcher
31 bar_stretcher Bar Stretcher
32 bar_stretcher Bar Stretcher
33 tabletop_connector Tabletop Connector
35 bar_stretcher Bar Stretcher
36 drawer Drawer
37 bar_stretcher Bar Stretcher
47 bar_stretcher Bar Stretcher
48 bar_stretcher Bar Stretcher
49 bar_stretcher Bar Stretcher
39 board Board
13 drawer_box Drawer box
14 handle Handle
40 drawer_box Drawer box
41 handle Handle
15 drawer_front Drawer front
16 drawer_side Drawer side
17 drawer_side Drawer side
18 drawer_back Drawer back
19 drawer_bottom Drawer bottom
42 drawer_front Drawer front
43 drawer_side Drawer side
44 drawer_side Drawer side
45 drawer_back Drawer back
46 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/32932/tree_hier_after_merging.html b/PartNetMobility/Table/32932/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..46cf1702e016df471f21fa713ea6b11f5e78b015
--- /dev/null
+++ b/PartNetMobility/Table/32932/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 drawer_base drawer_base
3 tabletop_surface tabletop_surface
6 drawer drawer
14 back_panel back_panel
15 vertical_side_panel vertical_side_panel
16 vertical_side_panel vertical_side_panel
17 leg leg
18 leg leg
19 leg leg
20 leg leg
21 bar_stretcher bar_stretcher
22 bar_stretcher bar_stretcher
23 bar_stretcher bar_stretcher
24 bar_stretcher bar_stretcher
25 bar_stretcher bar_stretcher
26 bar_stretcher bar_stretcher
27 bar_stretcher bar_stretcher
28 bar_stretcher bar_stretcher
29 bar_stretcher bar_stretcher
30 bar_stretcher bar_stretcher
31 bar_stretcher bar_stretcher
32 bar_stretcher bar_stretcher
33 tabletop_connector tabletop_connector
34 bar_stretcher bar_stretcher
35 drawer drawer
43 bar_stretcher bar_stretcher
44 bar_stretcher bar_stretcher
45 bar_stretcher bar_stretcher
46 bar_stretcher bar_stretcher
4 board board
7 drawer_box drawer_box
13 handle handle
36 drawer_box drawer_box
42 handle handle
8 drawer_front drawer_front
9 drawer_side drawer_side
10 drawer_side drawer_side
11 drawer_back drawer_back
12 drawer_bottom drawer_bottom
37 drawer_front drawer_front
38 drawer_side drawer_side
39 drawer_side drawer_side
40 drawer_back drawer_back
41 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/33457/bounding_box.json b/PartNetMobility/Table/33457/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5a3f6706dfb277470cfb700a1ffc5e621ae1d8f
--- /dev/null
+++ b/PartNetMobility/Table/33457/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.873992, -0.405382, -0.2816], "max": [0.724728, 0.184146, 0.557728]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/33457/meta.json b/PartNetMobility/Table/33457/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b894ea71c42fcd182a522f04051b4c2a96d7227
--- /dev/null
+++ b/PartNetMobility/Table/33457/meta.json
@@ -0,0 +1 @@
+{"model_id": "3c275368d3e30e775517495984cceec", "anno_id": "33457", "user_id": "shape03", "time_in_sec": "830", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/33457/mobility_v2.json b/PartNetMobility/Table/33457/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1f48bd547ae1a2fd565d2df20202114d7b581a1
--- /dev/null
+++ b/PartNetMobility/Table/33457/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":3,"joint":"hinge","name":"cabinet_door","parts":[{"id":36,"name":"cabinet_door_surface","children":[]},{"id":37,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0.6547441727548523,-0.3148759999999995,0.1625649816693806],"direction":[0,1,0]},"limit":{"a":0,"b":90,"noLimit":false}}},{"id":1,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":53,"name":"drawer_front","children":[]},{"id":54,"name":"drawer_side","children":[]},{"id":55,"name":"drawer_side","children":[]},{"id":56,"name":"drawer_back","children":[]},{"id":57,"name":"drawer_bottom","children":[]},{"id":44,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[1,0,0]},"limit":{"a":0,"b":0.20400000000000018,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":3,"joint":"slider","name":"drawer","parts":[{"id":51,"name":"drawer_front","children":[]},{"id":52,"name":"drawer_bottom","children":[]},{"id":50,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.2320000000000002,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":46,"name":"board","children":[]},{"id":14,"name":"leg","children":[]},{"id":15,"name":"leg","children":[]},{"id":16,"name":"leg","children":[]},{"id":17,"name":"leg","children":[]},{"id":18,"name":"leg","children":[]},{"id":19,"name":"leg","children":[]},{"id":20,"name":"leg","children":[]},{"id":21,"name":"leg","children":[]},{"id":25,"name":"back_panel","children":[]},{"id":26,"name":"vertical_side_panel","children":[]},{"id":27,"name":"vertical_side_panel","children":[]},{"id":28,"name":"vertical_side_panel","children":[]},{"id":29,"name":"vertical_side_panel","children":[]},{"id":30,"name":"vertical_front_panel","children":[]},{"id":34,"name":"vertical_front_panel","children":[]},{"id":35,"name":"vertical_front_panel","children":[]},{"id":40,"name":"base_side_panel","children":[]},{"id":41,"name":"base_side_panel","children":[]},{"id":42,"name":"base_side_panel","children":[]},{"id":48,"name":"bottom_panel","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/33457/result.json b/PartNetMobility/Table/33457/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..604d23b715ca0f77b92097f362999df304503f39
--- /dev/null
+++ b/PartNetMobility/Table/33457/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-20"], "id": 46, "name": "board"}], "id": 45, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Leg", "objs": ["new-0"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 15, "name": "leg"}, {"text": "Leg", "objs": ["new-2"], "id": 16, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 17, "name": "leg"}, {"text": "Leg", "objs": ["original-36"], "id": 18, "name": "leg"}, {"text": "Leg", "objs": ["original-33"], "id": 19, "name": "leg"}, {"text": "Leg", "objs": ["original-30"], "id": 20, "name": "leg"}, {"text": "Leg", "objs": ["original-27"], "id": 21, "name": "leg"}, {"text": "Back panel", "objs": ["new-4", "original-38", "original-4", "new-8"], "id": 25, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-1"], "id": 26, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-3"], "id": 27, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["new-12"], "id": 28, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["new-13"], "id": 29, "name": "vertical_side_panel"}, {"text": "Vertical Front Panel", "objs": ["new-11"], "id": 30, "name": "vertical_front_panel"}, {"text": "Cabinet door", "children": [{"text": "Cabinet door surface", "objs": ["original-25"], "id": 36, "name": "cabinet_door_surface"}, {"text": "Handle", "objs": ["original-24"], "id": 37, "name": "handle"}], "id": 33, "name": "cabinet_door"}, {"text": "Vertical Front Panel", "objs": ["original-11"], "id": 34, "name": "vertical_front_panel"}, {"text": "Vertical Front Panel", "objs": ["original-2"], "id": 35, "name": "vertical_front_panel"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-6", "new-16"], "id": 53, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-15"], "id": 54, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-17"], "id": 55, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-18"], "id": 56, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-19", "original-31", "original-37", "original-34", "original-28"], "id": 57, "name": "drawer_bottom"}], "id": 43, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-9", "original-8"], "id": 44, "name": "handle"}], "id": 39, "name": "drawer"}, {"text": "Base side panel", "objs": ["new-6"], "id": 40, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["new-7"], "id": 41, "name": "base_side_panel"}, {"text": "Base side panel", "objs": ["new-5"], "id": 42, "name": "base_side_panel"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-18", "original-16"], "id": 51, "name": "drawer_front"}, {"text": "Drawer bottom", "objs": ["original-19"], "id": 52, "name": "drawer_bottom"}], "id": 49, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-17"], "id": 50, "name": "handle"}], "id": 47, "name": "drawer"}, {"text": "Bottom panel", "objs": ["new-10", "new-9", "new-14", "original-23"], "id": 48, "name": "bottom_panel"}], "id": 3, "name": "drawer_base"}], "id": 1, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/33457/result_after_merging.json b/PartNetMobility/Table/33457/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..5edb955cf02faa7cec069dd0922ce0eff4a45ec8
--- /dev/null
+++ b/PartNetMobility/Table/33457/result_after_merging.json
@@ -0,0 +1 @@
+[{"id": 0, "ori_id": 0, "text": "table", "children": [{"id": 1, "ori_id": 1, "text": "regular_table", "children": [{"id": 2, "ori_id": 2, "text": "tabletop", "children": [{"id": 3, "ori_id": 45, "text": "tabletop_surface", "children": [{"text": "board", "id": 4, "objs": ["original-20"], "ori_id": 46, "name": "board"}], "objs": ["original-20"], "name": "tabletop_surface"}], "objs": ["original-20"], "name": "tabletop"}, {"id": 5, "ori_id": 3, "text": "drawer_base", "children": [{"text": "leg", "id": 6, "objs": ["new-0"], "ori_id": 14, "name": "leg"}, {"text": "leg", "id": 7, "objs": ["new-1"], "ori_id": 15, "name": "leg"}, {"text": "leg", "id": 8, "objs": ["new-2"], "ori_id": 16, "name": "leg"}, {"text": "leg", "id": 9, "objs": ["new-3"], "ori_id": 17, "name": "leg"}, {"text": "leg", "id": 10, "objs": ["original-36"], "ori_id": 18, "name": "leg"}, {"text": "leg", "id": 11, "objs": ["original-33"], "ori_id": 19, "name": "leg"}, {"text": "leg", "id": 12, "objs": ["original-30"], "ori_id": 20, "name": "leg"}, {"text": "leg", "id": 13, "objs": ["original-27"], "ori_id": 21, "name": "leg"}, {"text": "back_panel", "id": 14, "objs": ["new-4", "original-38", "original-4", "new-8"], "ori_id": 25, "name": "back_panel"}, {"text": "vertical_side_panel", "id": 15, "objs": ["original-1"], "ori_id": 26, "name": "vertical_side_panel"}, {"text": "vertical_side_panel", "id": 16, "objs": ["original-3"], "ori_id": 27, "name": "vertical_side_panel"}, {"text": "vertical_side_panel", "id": 17, "objs": ["new-12"], "ori_id": 28, "name": "vertical_side_panel"}, {"text": "vertical_side_panel", "id": 18, "objs": ["new-13"], "ori_id": 29, "name": "vertical_side_panel"}, {"text": "vertical_front_panel", "id": 19, "objs": ["new-11"], "ori_id": 30, "name": "vertical_front_panel"}, {"id": 20, "ori_id": 33, "text": "cabinet_door", "children": [{"text": "cabinet_door_surface", "id": 21, "objs": ["original-25"], "ori_id": 36, "name": "cabinet_door_surface"}, {"text": "handle", "id": 22, "objs": ["original-24"], "ori_id": 37, "name": "handle"}], "objs": ["original-25", "original-24"], "name": "cabinet_door"}, {"text": "vertical_front_panel", "id": 23, "objs": ["original-11"], "ori_id": 34, "name": "vertical_front_panel"}, {"text": "vertical_front_panel", "id": 24, "objs": ["original-2"], "ori_id": 35, "name": "vertical_front_panel"}, {"id": 25, "ori_id": 39, "text": "drawer", "children": [{"id": 26, "ori_id": 43, "text": "drawer_box", "children": [{"text": "drawer_front", "id": 27, "objs": ["original-6", "new-16"], "ori_id": 53, "name": "drawer_front"}, {"text": "drawer_side", "id": 28, "objs": ["new-15"], "ori_id": 54, "name": "drawer_side"}, {"text": "drawer_side", "id": 29, "objs": ["new-17"], "ori_id": 55, "name": "drawer_side"}, {"text": "drawer_back", "id": 30, "objs": ["new-18"], "ori_id": 56, "name": "drawer_back"}, {"text": "drawer_bottom", "id": 31, "objs": ["new-19", "original-31", "original-37", "original-34", "original-28"], "ori_id": 57, "name": "drawer_bottom"}], "objs": ["original-6", "new-16", "new-15", "new-17", "new-18", "new-19", "original-31", "original-37", "original-34", "original-28"], "name": "drawer_box"}, {"text": "handle", "id": 32, "objs": ["original-9", "original-8"], "ori_id": 44, "name": "handle"}], "objs": ["original-6", "new-16", "new-15", "new-17", "new-18", "new-19", "original-31", "original-37", "original-34", "original-28", "original-9", "original-8"], "name": "drawer"}, {"id": 33, "ori_id": 47, "text": "drawer", "children": [{"id": 34, "ori_id": 49, "text": "drawer_box", "children": [{"text": "drawer_front", "id": 35, "objs": ["original-18", "original-16"], "ori_id": 51, "name": "drawer_front"}, {"text": "drawer_bottom", "id": 36, "objs": ["original-19"], "ori_id": 52, "name": "drawer_bottom"}], "objs": ["original-18", "original-16", "original-19"], "name": "drawer_box"}, {"text": "handle", "id": 37, "objs": ["original-17"], "ori_id": 50, "name": "handle"}], "objs": ["original-18", "original-16", "original-19", "original-17"], "name": "drawer"}, {"text": "bottom_panel", "id": 38, "objs": ["new-10", "new-9", "new-14", "original-23"], "ori_id": 48, "name": "bottom_panel"}], "objs": ["new-0", "new-1", "new-2", "new-3", "original-36", "original-33", "original-30", "original-27", "new-4", "original-38", "original-4", "new-8", "original-1", "original-3", "new-12", "new-13", "new-11", "original-25", "original-24", "original-11", "original-2", "original-6", "new-16", "new-15", "new-17", "new-18", "new-19", "original-31", "original-37", "original-34", "original-28", "original-9", "original-8", "new-6", "new-7", "new-5", "original-18", "original-16", "original-19", "original-17", "new-10", "new-9", "new-14", "original-23"], "name": "drawer_base"}], "objs": ["original-20", "new-0", "new-1", "new-2", "new-3", "original-36", "original-33", "original-30", "original-27", "new-4", "original-38", "original-4", "new-8", "original-1", "original-3", "new-12", "new-13", "new-11", "original-25", "original-24", "original-11", "original-2", "original-6", "new-16", "new-15", "new-17", "new-18", "new-19", "original-31", "original-37", "original-34", "original-28", "original-9", "original-8", "new-6", "new-7", "new-5", "original-18", "original-16", "original-19", "original-17", "new-10", "new-9", "new-14", "original-23"], "name": "regular_table"}], "objs": ["original-20", "new-0", "new-1", "new-2", "new-3", "original-36", "original-33", "original-30", "original-27", "new-4", "original-38", "original-4", "new-8", "original-1", "original-3", "new-12", "new-13", "new-11", "original-25", "original-24", "original-11", "original-2", "original-6", "new-16", "new-15", "new-17", "new-18", "new-19", "original-31", "original-37", "original-34", "original-28", "original-9", "original-8", "new-6", "new-7", "new-5", "original-18", "original-16", "original-19", "original-17", "new-10", "new-9", "new-14", "original-23"], "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/33914/bounding_box.json b/PartNetMobility/Table/33914/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e88f82b3eaba06c6820b46570bfca75d7094ba9
--- /dev/null
+++ b/PartNetMobility/Table/33914/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.639031, -0.708882, -0.667049], "max": [0.676403, 0.230715, 0.650343]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/33914/meta.json b/PartNetMobility/Table/33914/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df77197146ce08e89e9ec29315deb8148dc40777
--- /dev/null
+++ b/PartNetMobility/Table/33914/meta.json
@@ -0,0 +1 @@
+{"model_id": "f875ff7c72fdada820768660cf080d12", "anno_id": "33914", "user_id": "shape16", "time_in_sec": "455", "version": "2", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/33914/mobility.urdf b/PartNetMobility/Table/33914/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d19dfbbf259794a590507531a67b35120e5b7d86
--- /dev/null
+++ b/PartNetMobility/Table/33914/mobility.urdf
@@ -0,0 +1,665 @@
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diff --git a/PartNetMobility/Table/33914/mobility_v2.json b/PartNetMobility/Table/33914/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f64d1f7fdde6d9114cde58cd8f35ba3f4e112c04
--- /dev/null
+++ b/PartNetMobility/Table/33914/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"slider","name":"drawer_box","parts":[{"id":23,"name":"drawer_front","children":[]},{"id":24,"name":"drawer_side","children":[]},{"id":25,"name":"drawer_side","children":[]},{"id":26,"name":"drawer_back","children":[]},{"id":27,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":-0.28800000000000003,"b":0.01200000000000001,"noLimit":false}}},{"id":1,"parent":2,"joint":"slider","name":"drawer_box","parts":[{"id":17,"name":"drawer_front","children":[]},{"id":18,"name":"drawer_side","children":[]},{"id":19,"name":"drawer_side","children":[]},{"id":20,"name":"drawer_back","children":[]},{"id":21,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0.3039999999999998,"b":-0.01200000000000001,"noLimit":false}}},{"id":2,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":29,"name":"board","children":[]},{"id":6,"name":"shelf","children":[]},{"id":7,"name":"shelf","children":[]},{"id":8,"name":"shelf","children":[]},{"id":9,"name":"vertical_side_panel","children":[]},{"id":10,"name":"vertical_side_panel","children":[]},{"id":11,"name":"bottom_panel","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]},{"id":14,"name":"leg","children":[]},{"id":15,"name":"leg","children":[]},{"id":30,"name":"bar_stretcher","children":[]},{"id":31,"name":"bar_stretcher","children":[]},{"id":32,"name":"bar_stretcher","children":[]},{"id":33,"name":"bar_stretcher","children":[]},{"id":34,"name":"bar_stretcher","children":[]},{"id":35,"name":"bar_stretcher","children":[]},{"id":36,"name":"bar_stretcher","children":[]},{"id":37,"name":"bar_stretcher","children":[]},{"id":38,"name":"bar_stretcher","children":[]},{"id":39,"name":"bar_stretcher","children":[]},{"id":40,"name":"bar_stretcher","children":[]},{"id":41,"name":"bar_stretcher","children":[]},{"id":42,"name":"bar_stretcher","children":[]},{"id":43,"name":"tabletop_connector","children":[]},{"id":44,"name":"tabletop_connector","children":[]},{"id":45,"name":"tabletop_connector","children":[]},{"id":46,"name":"tabletop_connector","children":[]},{"id":47,"name":"tabletop_connector","children":[]},{"id":48,"name":"tabletop_connector","children":[]},{"id":59,"name":"tabletop_connector","children":[]},{"id":60,"name":"tabletop_connector","children":[]},{"id":61,"name":"bar_stretcher","children":[]},{"id":62,"name":"bar_stretcher","children":[]},{"id":63,"name":"bar_stretcher","children":[]},{"id":64,"name":"bar_stretcher","children":[]},{"id":65,"name":"bar_stretcher","children":[]},{"id":66,"name":"bar_stretcher","children":[]},{"id":67,"name":"bar_stretcher","children":[]},{"id":68,"name":"bar_stretcher","children":[]},{"id":69,"name":"bar_stretcher","children":[]},{"id":70,"name":"bar_stretcher","children":[]},{"id":71,"name":"bar_stretcher","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/33914/result.json b/PartNetMobility/Table/33914/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..69817f5b248731ef71fbb38c8614ef6f449d9267
--- /dev/null
+++ b/PartNetMobility/Table/33914/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Desk", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-52"], "id": 29, "name": "board"}], "id": 28, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Drawer Base", "children": [{"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-50"], "id": 23, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-1"], "id": 24, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-2"], "id": 25, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-3"], "id": 26, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-0"], "id": 27, "name": "drawer_bottom"}], "id": 22, "name": "drawer_box"}], "id": 4, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-48"], "id": 17, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-5"], "id": 18, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-6"], "id": 19, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-7"], "id": 20, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-4"], "id": 21, "name": "drawer_bottom"}], "id": 16, "name": "drawer_box"}], "id": 5, "name": "drawer"}, {"text": "Shelf", "objs": ["original-8"], "id": 6, "name": "shelf"}, {"text": "Shelf", "objs": ["original-32"], "id": 7, "name": "shelf"}, {"text": "Shelf", "objs": ["original-3"], "id": 8, "name": "shelf"}, {"text": "Vertical side panel", "objs": ["original-6"], "id": 9, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-24"], "id": 10, "name": "vertical_side_panel"}, {"text": "Bottom panel", "objs": ["original-39"], "id": 11, "name": "bottom_panel"}, {"text": "Leg", "objs": ["original-1"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-2"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-37"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["original-21"], "id": 15, "name": "leg"}, {"text": "Bar Stretcher", "objs": ["original-11"], "id": 30, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-9"], "id": 31, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-10"], "id": 32, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-25"], "id": 33, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-28"], "id": 34, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-26"], "id": 35, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-34"], "id": 36, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-35"], "id": 37, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-20"], "id": 38, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-29"], "id": 39, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-23"], "id": 40, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-33"], "id": 41, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-31"], "id": 42, "name": "bar_stretcher"}, {"text": "Tabletop Connector", "objs": ["original-27"], "id": 43, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-36"], "id": 44, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-45"], "id": 45, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-13"], "id": 46, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-15"], "id": 47, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-14"], "id": 48, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-44"], "id": 59, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-30"], "id": 60, "name": "tabletop_connector"}, {"text": "Bar Stretcher", "objs": ["original-42"], "id": 61, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-5"], "id": 62, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-16"], "id": 63, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-17"], "id": 64, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-12"], "id": 65, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-7"], "id": 66, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-19"], "id": 67, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-18"], "id": 68, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-40"], "id": 69, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-41"], "id": 70, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-43"], "id": 71, "name": "bar_stretcher"}], "id": 3, "name": "drawer_base"}], "id": 1, "name": "desk"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/33914/result_after_merging.json b/PartNetMobility/Table/33914/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..20a33bbcc7fac8d0f5ba14b6bbdc704f512aaccb
--- /dev/null
+++ b/PartNetMobility/Table/33914/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"children": [{"text": "board", "ori_id": 29, "name": "board", "objs": ["original-52"], "id": 4}], "id": 3, "name": "tabletop_surface", "objs": ["original-52"], "text": "tabletop_surface", "ori_id": 28}], "id": 2, "name": "tabletop", "objs": ["original-52"], "text": "tabletop", "ori_id": 2}, {"children": [{"children": [{"children": [{"text": "drawer_front", "ori_id": 23, "name": "drawer_front", "objs": ["original-50"], "id": 8}, {"text": "drawer_side", "ori_id": 24, "name": "drawer_side", "objs": ["new-1"], "id": 9}, {"text": "drawer_side", "ori_id": 25, "name": "drawer_side", "objs": ["new-2"], "id": 10}, {"text": "drawer_back", "ori_id": 26, "name": "drawer_back", "objs": ["new-3"], "id": 11}, {"text": "drawer_bottom", "ori_id": 27, "name": "drawer_bottom", "objs": ["new-0"], "id": 12}], "id": 7, "name": "drawer_box", "objs": ["original-50", "new-1", "new-2", "new-3", "new-0"], "text": "drawer_box", "ori_id": 22}], "id": 6, "name": "drawer", "objs": ["original-50", "new-1", "new-2", "new-3", "new-0"], "text": "drawer", "ori_id": 4}, {"children": [{"children": [{"text": "drawer_front", "ori_id": 17, "name": "drawer_front", "objs": ["original-48"], "id": 15}, {"text": "drawer_side", "ori_id": 18, "name": "drawer_side", "objs": ["new-5"], "id": 16}, {"text": "drawer_side", "ori_id": 19, "name": "drawer_side", "objs": ["new-6"], "id": 17}, {"text": "drawer_back", "ori_id": 20, "name": "drawer_back", "objs": ["new-7"], "id": 18}, {"text": "drawer_bottom", "ori_id": 21, "name": "drawer_bottom", "objs": ["new-4"], "id": 19}], "id": 14, "name": "drawer_box", "objs": ["original-48", "new-5", "new-6", "new-7", "new-4"], "text": "drawer_box", "ori_id": 16}], "id": 13, "name": "drawer", "objs": ["original-48", "new-5", "new-6", "new-7", "new-4"], "text": "drawer", "ori_id": 5}, {"text": "shelf", "ori_id": 6, "name": "shelf", "objs": ["original-8"], "id": 20}, {"text": "shelf", "ori_id": 7, "name": "shelf", "objs": ["original-32"], "id": 21}, {"text": "shelf", "ori_id": 8, "name": "shelf", "objs": ["original-3"], "id": 22}, {"text": "vertical_side_panel", "ori_id": 9, "name": "vertical_side_panel", "objs": ["original-6"], "id": 23}, {"text": "vertical_side_panel", "ori_id": 10, "name": "vertical_side_panel", "objs": ["original-24"], "id": 24}, {"text": "bottom_panel", "ori_id": 11, "name": "bottom_panel", "objs": ["original-39"], "id": 25}, {"text": "leg", "ori_id": 12, "name": "leg", "objs": ["original-1"], "id": 26}, {"text": "leg", "ori_id": 13, "name": "leg", "objs": ["original-2"], "id": 27}, {"text": "leg", "ori_id": 14, "name": "leg", "objs": ["original-37"], "id": 28}, {"text": "leg", "ori_id": 15, "name": "leg", "objs": ["original-21"], "id": 29}, {"text": "bar_stretcher", "ori_id": 30, "name": "bar_stretcher", "objs": ["original-11"], "id": 30}, {"text": "bar_stretcher", "ori_id": 31, "name": "bar_stretcher", "objs": ["original-9"], "id": 31}, {"text": "bar_stretcher", "ori_id": 32, "name": "bar_stretcher", "objs": ["original-10"], "id": 32}, {"text": "bar_stretcher", "ori_id": 33, "name": "bar_stretcher", "objs": ["original-25"], "id": 33}, {"text": "bar_stretcher", "ori_id": 34, "name": "bar_stretcher", "objs": ["original-28"], "id": 34}, {"text": "bar_stretcher", "ori_id": 35, "name": "bar_stretcher", "objs": ["original-26"], "id": 35}, {"text": "bar_stretcher", "ori_id": 36, "name": "bar_stretcher", "objs": ["original-34"], "id": 36}, {"text": "bar_stretcher", "ori_id": 37, "name": "bar_stretcher", "objs": ["original-35"], "id": 37}, {"text": "bar_stretcher", "ori_id": 38, "name": "bar_stretcher", "objs": ["original-20"], "id": 38}, {"text": "bar_stretcher", "ori_id": 39, "name": "bar_stretcher", "objs": ["original-29"], "id": 39}, {"text": "bar_stretcher", "ori_id": 40, "name": "bar_stretcher", "objs": ["original-23"], "id": 40}, {"text": "bar_stretcher", "ori_id": 41, "name": "bar_stretcher", "objs": ["original-33"], "id": 41}, {"text": "bar_stretcher", "ori_id": 42, "name": "bar_stretcher", "objs": ["original-31"], "id": 42}, {"text": "tabletop_connector", "ori_id": 43, "name": "tabletop_connector", "objs": ["original-27"], "id": 43}, {"text": "tabletop_connector", "ori_id": 44, "name": "tabletop_connector", "objs": ["original-36"], "id": 44}, {"text": "tabletop_connector", "ori_id": 45, "name": "tabletop_connector", "objs": ["original-45"], "id": 45}, {"text": "tabletop_connector", "ori_id": 46, "name": "tabletop_connector", "objs": ["original-13"], "id": 46}, {"text": "tabletop_connector", "ori_id": 47, "name": "tabletop_connector", "objs": ["original-15"], "id": 47}, {"text": "tabletop_connector", "ori_id": 48, "name": "tabletop_connector", "objs": ["original-14"], "id": 48}, {"text": "tabletop_connector", "ori_id": 59, "name": "tabletop_connector", "objs": ["original-44"], "id": 49}, {"text": "tabletop_connector", "ori_id": 60, "name": "tabletop_connector", "objs": ["original-30"], "id": 50}, {"text": "bar_stretcher", "ori_id": 61, "name": "bar_stretcher", "objs": ["original-42"], "id": 51}, {"text": "bar_stretcher", "ori_id": 62, "name": "bar_stretcher", "objs": ["original-5"], "id": 52}, {"text": "bar_stretcher", "ori_id": 63, "name": "bar_stretcher", "objs": ["original-16"], "id": 53}, {"text": "bar_stretcher", "ori_id": 64, "name": "bar_stretcher", "objs": ["original-17"], "id": 54}, {"text": "bar_stretcher", "ori_id": 65, "name": "bar_stretcher", "objs": ["original-12"], "id": 55}, {"text": "bar_stretcher", "ori_id": 66, "name": "bar_stretcher", "objs": ["original-7"], "id": 56}, {"text": "bar_stretcher", "ori_id": 67, "name": "bar_stretcher", "objs": ["original-19"], "id": 57}, {"text": "bar_stretcher", "ori_id": 68, "name": "bar_stretcher", "objs": ["original-18"], "id": 58}, {"text": "bar_stretcher", "ori_id": 69, "name": "bar_stretcher", "objs": ["original-40"], "id": 59}, {"text": "bar_stretcher", "ori_id": 70, "name": "bar_stretcher", "objs": ["original-41"], "id": 60}, {"text": "bar_stretcher", "ori_id": 71, "name": "bar_stretcher", "objs": ["original-43"], "id": 61}], "id": 5, "name": "drawer_base", "objs": ["original-50", "new-1", "new-2", "new-3", "new-0", "original-48", "new-5", "new-6", "new-7", "new-4", "original-8", "original-32", "original-3", "original-6", "original-24", "original-39", "original-1", "original-2", "original-37", "original-21", "original-11", "original-9", "original-10", "original-25", "original-28", "original-26", "original-34", "original-35", "original-20", "original-29", "original-23", "original-33", "original-31", "original-27", "original-36", "original-45", "original-13", "original-15", "original-14", "original-44", "original-30", "original-42", "original-5", "original-16", "original-17", "original-12", "original-7", "original-19", "original-18", "original-40", "original-41", "original-43"], "text": "drawer_base", "ori_id": 3}], "id": 1, "name": "regular_table", "objs": ["original-52", "original-50", "new-1", "new-2", "new-3", "new-0", "original-48", "new-5", "new-6", "new-7", "new-4", "original-8", "original-32", "original-3", "original-6", "original-24", "original-39", "original-1", "original-2", "original-37", "original-21", "original-11", "original-9", "original-10", "original-25", "original-28", "original-26", "original-34", "original-35", "original-20", "original-29", "original-23", "original-33", "original-31", "original-27", "original-36", "original-45", "original-13", "original-15", "original-14", "original-44", "original-30", "original-42", "original-5", "original-16", "original-17", "original-12", "original-7", "original-19", "original-18", "original-40", "original-41", "original-43"], "text": "regular_table", "ori_id": 1}], "id": 0, "name": "table", "objs": ["original-52", "original-50", "new-1", "new-2", "new-3", "new-0", "original-48", "new-5", "new-6", "new-7", "new-4", "original-8", "original-32", "original-3", "original-6", "original-24", "original-39", "original-1", "original-2", "original-37", "original-21", "original-11", "original-9", "original-10", "original-25", "original-28", "original-26", "original-34", "original-35", "original-20", "original-29", "original-23", "original-33", "original-31", "original-27", "original-36", "original-45", "original-13", "original-15", "original-14", "original-44", "original-30", "original-42", "original-5", "original-16", "original-17", "original-12", "original-7", "original-19", "original-18", "original-40", "original-41", "original-43"], "text": "table", "ori_id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/33914/semantics.txt b/PartNetMobility/Table/33914/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d9ab475d8182a0ea8f8bb40bec8f63c07a539f15
--- /dev/null
+++ b/PartNetMobility/Table/33914/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider drawer
+link_1 slider drawer
+link_2 heavy furniture_body
diff --git a/PartNetMobility/Table/33914/tree_hier.html b/PartNetMobility/Table/33914/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..3d63866bae799c2305d3c98496d1ade78db9bb5c
--- /dev/null
+++ b/PartNetMobility/Table/33914/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 desk Desk
2 tabletop Tabletop
3 drawer_base Drawer Base
28 tabletop_surface Tabletop surface
4 drawer Drawer
5 drawer Drawer
6 shelf Shelf
7 shelf Shelf
8 shelf Shelf
9 vertical_side_panel Vertical side panel
10 vertical_side_panel Vertical side panel
11 bottom_panel Bottom panel
12 leg Leg
13 leg Leg
14 leg Leg
15 leg Leg
30 bar_stretcher Bar Stretcher
31 bar_stretcher Bar Stretcher
32 bar_stretcher Bar Stretcher
33 bar_stretcher Bar Stretcher
34 bar_stretcher Bar Stretcher
35 bar_stretcher Bar Stretcher
36 bar_stretcher Bar Stretcher
37 bar_stretcher Bar Stretcher
38 bar_stretcher Bar Stretcher
39 bar_stretcher Bar Stretcher
40 bar_stretcher Bar Stretcher
41 bar_stretcher Bar Stretcher
42 bar_stretcher Bar Stretcher
43 tabletop_connector Tabletop Connector
44 tabletop_connector Tabletop Connector
45 tabletop_connector Tabletop Connector
46 tabletop_connector Tabletop Connector
47 tabletop_connector Tabletop Connector
48 tabletop_connector Tabletop Connector
59 tabletop_connector Tabletop Connector
60 tabletop_connector Tabletop Connector
61 bar_stretcher Bar Stretcher
62 bar_stretcher Bar Stretcher
63 bar_stretcher Bar Stretcher
64 bar_stretcher Bar Stretcher
65 bar_stretcher Bar Stretcher
66 bar_stretcher Bar Stretcher
67 bar_stretcher Bar Stretcher
68 bar_stretcher Bar Stretcher
69 bar_stretcher Bar Stretcher
70 bar_stretcher Bar Stretcher
71 bar_stretcher Bar Stretcher
29 board Board
22 drawer_box Drawer box
16 drawer_box Drawer box
23 drawer_front Drawer front
24 drawer_side Drawer side
25 drawer_side Drawer side
26 drawer_back Drawer back
27 drawer_bottom Drawer bottom
17 drawer_front Drawer front
18 drawer_side Drawer side
19 drawer_side Drawer side
20 drawer_back Drawer back
21 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/33914/tree_hier_after_merging.html b/PartNetMobility/Table/33914/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..62bbc1302939a97c6190d0a5a14cfa38c95b7600
--- /dev/null
+++ b/PartNetMobility/Table/33914/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 drawer_base drawer_base
3 tabletop_surface tabletop_surface
6 drawer drawer
13 drawer drawer
20 shelf shelf
21 shelf shelf
22 shelf shelf
23 vertical_side_panel vertical_side_panel
24 vertical_side_panel vertical_side_panel
25 bottom_panel bottom_panel
26 leg leg
27 leg leg
28 leg leg
29 leg leg
30 bar_stretcher bar_stretcher
31 bar_stretcher bar_stretcher
32 bar_stretcher bar_stretcher
33 bar_stretcher bar_stretcher
34 bar_stretcher bar_stretcher
35 bar_stretcher bar_stretcher
36 bar_stretcher bar_stretcher
37 bar_stretcher bar_stretcher
38 bar_stretcher bar_stretcher
39 bar_stretcher bar_stretcher
40 bar_stretcher bar_stretcher
41 bar_stretcher bar_stretcher
42 bar_stretcher bar_stretcher
43 tabletop_connector tabletop_connector
44 tabletop_connector tabletop_connector
45 tabletop_connector tabletop_connector
46 tabletop_connector tabletop_connector
47 tabletop_connector tabletop_connector
48 tabletop_connector tabletop_connector
49 tabletop_connector tabletop_connector
50 tabletop_connector tabletop_connector
51 bar_stretcher bar_stretcher
52 bar_stretcher bar_stretcher
53 bar_stretcher bar_stretcher
54 bar_stretcher bar_stretcher
55 bar_stretcher bar_stretcher
56 bar_stretcher bar_stretcher
57 bar_stretcher bar_stretcher
58 bar_stretcher bar_stretcher
59 bar_stretcher bar_stretcher
60 bar_stretcher bar_stretcher
61 bar_stretcher bar_stretcher
4 board board
7 drawer_box drawer_box
14 drawer_box drawer_box
8 drawer_front drawer_front
9 drawer_side drawer_side
10 drawer_side drawer_side
11 drawer_back drawer_back
12 drawer_bottom drawer_bottom
15 drawer_front drawer_front
16 drawer_side drawer_side
17 drawer_side drawer_side
18 drawer_back drawer_back
19 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/0.txt b/PartNetMobility/Table/33930/parts_render/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..84b032e31ee0167a21997d04fda9e73c6de415f2
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/0.txt
@@ -0,0 +1 @@
+0 table Table
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/100.txt b/PartNetMobility/Table/33930/parts_render/100.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e8e03055db77eeb4a37cd17b9b88d2a47d2069ee
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/100.txt
@@ -0,0 +1 @@
+100 bar_stretcher Bar Stretcher
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/102.txt b/PartNetMobility/Table/33930/parts_render/102.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba9ea1cdf1fa4b9709f143ff6c29c5b6d80f4027
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/102.txt
@@ -0,0 +1 @@
+102 bar_stretcher Bar Stretcher
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/103.txt b/PartNetMobility/Table/33930/parts_render/103.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d0c5cf85a55ecfd78ce8db106d1033a2145c9d91
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/103.txt
@@ -0,0 +1 @@
+103 bar_stretcher Bar Stretcher
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/104.txt b/PartNetMobility/Table/33930/parts_render/104.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f1558cb69e4b4e051d313715c64dfb8c39c05b05
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/104.txt
@@ -0,0 +1 @@
+104 bar_stretcher Bar Stretcher
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/105.txt b/PartNetMobility/Table/33930/parts_render/105.txt
new file mode 100644
index 0000000000000000000000000000000000000000..554fab130b889e1f6af151b60a53bf207416e5f4
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/105.txt
@@ -0,0 +1 @@
+105 bar_stretcher Bar Stretcher
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/106.txt b/PartNetMobility/Table/33930/parts_render/106.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2e113cb6c524cbf4ff1fb34c88829e6e8dee4534
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/106.txt
@@ -0,0 +1 @@
+106 vertical_divider_panel Vertical divider panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/107.txt b/PartNetMobility/Table/33930/parts_render/107.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a813f8c51e9541bae4f8727de27ec9eab6c4d285
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/107.txt
@@ -0,0 +1 @@
+107 vertical_divider_panel Vertical divider panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/109.txt b/PartNetMobility/Table/33930/parts_render/109.txt
new file mode 100644
index 0000000000000000000000000000000000000000..215d8212bcc4eb7c27c4994731b8b5fec2e05fa5
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/109.txt
@@ -0,0 +1 @@
+109 vertical_divider_panel Vertical divider panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/111.txt b/PartNetMobility/Table/33930/parts_render/111.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d7786e6fe97d5491238381bf08ac80ea0836069
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/111.txt
@@ -0,0 +1 @@
+111 vertical_divider_panel Vertical divider panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/112.txt b/PartNetMobility/Table/33930/parts_render/112.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2696804f8b6c00a081a8936ab1eb394b2661cac4
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/112.txt
@@ -0,0 +1 @@
+112 vertical_divider_panel Vertical divider panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/114.txt b/PartNetMobility/Table/33930/parts_render/114.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1e087eafa30c5a5ebec355d80840b2860a651050
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/114.txt
@@ -0,0 +1 @@
+114 vertical_divider_panel Vertical divider panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/115.txt b/PartNetMobility/Table/33930/parts_render/115.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c1ea38ab9cf6e4140957406d18f27e39f27716d0
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/115.txt
@@ -0,0 +1 @@
+115 bar_stretcher Bar Stretcher
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/116.txt b/PartNetMobility/Table/33930/parts_render/116.txt
new file mode 100644
index 0000000000000000000000000000000000000000..89c66b4133324ca10dc96fe6b3f8e725e33ac348
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/116.txt
@@ -0,0 +1 @@
+116 vertical_divider_panel Vertical divider panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/120.txt b/PartNetMobility/Table/33930/parts_render/120.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7f691bd3623eea54535ecfd456ee2a4cee6aa03f
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/120.txt
@@ -0,0 +1 @@
+120 tabletop_connector Tabletop Connector
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/19.txt b/PartNetMobility/Table/33930/parts_render/19.txt
new file mode 100644
index 0000000000000000000000000000000000000000..40ce25f0eb8f7b3288cfccaf65644a73cb235254
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/19.txt
@@ -0,0 +1 @@
+19 leg Leg
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/2.txt b/PartNetMobility/Table/33930/parts_render/2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e0a0c51dba8567c14609f209927ae4901bca4e74
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/2.txt
@@ -0,0 +1 @@
+2 tabletop Tabletop
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/20.txt b/PartNetMobility/Table/33930/parts_render/20.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a66a08232a4d40ac1ae69dd85ca93fc668a70976
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/20.txt
@@ -0,0 +1 @@
+20 leg Leg
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/21.txt b/PartNetMobility/Table/33930/parts_render/21.txt
new file mode 100644
index 0000000000000000000000000000000000000000..32e00c44e2ec92f42af555014d7e5a88c1c2a7c5
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/21.txt
@@ -0,0 +1 @@
+21 leg Leg
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/22.txt b/PartNetMobility/Table/33930/parts_render/22.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1d88f08c5efd3dc859ede3e297795aa42cad281c
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/22.txt
@@ -0,0 +1 @@
+22 leg Leg
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/23.txt b/PartNetMobility/Table/33930/parts_render/23.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f8d797b7ab3b6cb255c18f4d5e0f6735112455c1
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/23.txt
@@ -0,0 +1 @@
+23 leg Leg
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/24.txt b/PartNetMobility/Table/33930/parts_render/24.txt
new file mode 100644
index 0000000000000000000000000000000000000000..644b52ffd7410baceead5c9833d27ff0a63b1dbb
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/24.txt
@@ -0,0 +1 @@
+24 leg Leg
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/28.txt b/PartNetMobility/Table/33930/parts_render/28.txt
new file mode 100644
index 0000000000000000000000000000000000000000..171d0d02f059a6efb710910886ec6c9095ed93df
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/28.txt
@@ -0,0 +1 @@
+28 drawer Drawer
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/29.txt b/PartNetMobility/Table/33930/parts_render/29.txt
new file mode 100644
index 0000000000000000000000000000000000000000..355a877d7d9c6802c5fd1de05a2f787f92e41b73
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/29.txt
@@ -0,0 +1 @@
+29 drawer Drawer
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/3.txt b/PartNetMobility/Table/33930/parts_render/3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1057c1ceb37f47c27b98e9ba17da24d3a934055b
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/3.txt
@@ -0,0 +1 @@
+3 drawer_base Drawer Base
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/32.txt b/PartNetMobility/Table/33930/parts_render/32.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4012f91fe9446817f500e7f302103100cda10291
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/32.txt
@@ -0,0 +1 @@
+32 back_panel Back panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/33.txt b/PartNetMobility/Table/33930/parts_render/33.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c1b2a5ab9a1482af900a484edc690bdbf8f5a69e
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/33.txt
@@ -0,0 +1 @@
+33 vertical_side_panel Vertical side panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/34.txt b/PartNetMobility/Table/33930/parts_render/34.txt
new file mode 100644
index 0000000000000000000000000000000000000000..78a24ab3758c8746c502fd863400c1bd91a32d3f
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/34.txt
@@ -0,0 +1 @@
+34 vertical_side_panel Vertical side panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/35.txt b/PartNetMobility/Table/33930/parts_render/35.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5c8707993cef25b060e055cfe9aaba1ccce68ec5
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/35.txt
@@ -0,0 +1 @@
+35 vertical_side_panel Vertical side panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/36.txt b/PartNetMobility/Table/33930/parts_render/36.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8277445a083e2ac72394fddc82fa469752c3ca8e
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/36.txt
@@ -0,0 +1 @@
+36 vertical_side_panel Vertical side panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/37.txt b/PartNetMobility/Table/33930/parts_render/37.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bb38558b2e1c5066a9f4a2cd67c0e4854802547a
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/37.txt
@@ -0,0 +1 @@
+37 drawer_box Drawer box
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/38.txt b/PartNetMobility/Table/33930/parts_render/38.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a5c8739a26776c9abd004f52b2e246fb712ed6ab
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/38.txt
@@ -0,0 +1 @@
+38 handle Handle
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/40.txt b/PartNetMobility/Table/33930/parts_render/40.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be8453c9992dd7aa6ad87c179a17ab04e3e24cf2
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/40.txt
@@ -0,0 +1 @@
+40 drawer_side Drawer side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/41.txt b/PartNetMobility/Table/33930/parts_render/41.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bef939184df3d458187bf28d6cb724563a3bb923
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/41.txt
@@ -0,0 +1 @@
+41 drawer_side Drawer side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/58.txt b/PartNetMobility/Table/33930/parts_render/58.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3ec5935b1d9c48e0d1ac33008e81310f3b7e269c
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/58.txt
@@ -0,0 +1 @@
+58 drawer_box Drawer box
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/60.txt b/PartNetMobility/Table/33930/parts_render/60.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ded5f28065c66a084a4b9bcfa38649fb49de9fd
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/60.txt
@@ -0,0 +1 @@
+60 handle Handle
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/61.txt b/PartNetMobility/Table/33930/parts_render/61.txt
new file mode 100644
index 0000000000000000000000000000000000000000..542999c689625a68c01ff896f5e263a7935941c7
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/61.txt
@@ -0,0 +1 @@
+61 drawer_front Drawer front
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/64.txt b/PartNetMobility/Table/33930/parts_render/64.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a1f84e02b5449a238ced56cdd22e125de647d55e
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/64.txt
@@ -0,0 +1 @@
+64 drawer_back Drawer back
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/65.txt b/PartNetMobility/Table/33930/parts_render/65.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f84fd9b4d4e59cf05b257ea2675b5eaf3a7e185
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/65.txt
@@ -0,0 +1 @@
+65 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/69.txt b/PartNetMobility/Table/33930/parts_render/69.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb5dce2b7217d3e835e975c2e1b68d9f12ba5d4a
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/69.txt
@@ -0,0 +1 @@
+69 handle Handle
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/71.txt b/PartNetMobility/Table/33930/parts_render/71.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f982b30fca096d43f48eaf57908845264fae0c3f
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/71.txt
@@ -0,0 +1 @@
+71 drawer_side Drawer side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/72.txt b/PartNetMobility/Table/33930/parts_render/72.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b25c8c9d0334b1e3d0d50fa61d1b38de66b2bda
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/72.txt
@@ -0,0 +1 @@
+72 drawer_side Drawer side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/73.txt b/PartNetMobility/Table/33930/parts_render/73.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a5648b33f857486a564fea0b36f6b2fca64fe6c3
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/73.txt
@@ -0,0 +1 @@
+73 drawer_back Drawer back
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/74.txt b/PartNetMobility/Table/33930/parts_render/74.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f417a816143b34a13b0ca7659d592e4a04d82db4
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/74.txt
@@ -0,0 +1 @@
+74 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/75.txt b/PartNetMobility/Table/33930/parts_render/75.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60ec44823af3558c9a175bb5c1b663093c617952
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/75.txt
@@ -0,0 +1 @@
+75 drawer_box Drawer box
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/76.txt b/PartNetMobility/Table/33930/parts_render/76.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0abe5b61856f23ed854bc535c26504a612fe77d4
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/76.txt
@@ -0,0 +1 @@
+76 handle Handle
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/77.txt b/PartNetMobility/Table/33930/parts_render/77.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9e0ae5899e8742e2f1ab8e6e8aec644f68272c26
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/77.txt
@@ -0,0 +1 @@
+77 drawer_front Drawer front
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/78.txt b/PartNetMobility/Table/33930/parts_render/78.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4f4ea041f2e41a8c5d37bff3726bd6bcb45f1bdb
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/78.txt
@@ -0,0 +1 @@
+78 drawer_side Drawer side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/80.txt b/PartNetMobility/Table/33930/parts_render/80.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c2fbc94e79d5963457f35b70271c08bea025bcfc
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/80.txt
@@ -0,0 +1 @@
+80 drawer_back Drawer back
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/81.txt b/PartNetMobility/Table/33930/parts_render/81.txt
new file mode 100644
index 0000000000000000000000000000000000000000..115098c220510e3669cb2e3c76af7097520577e2
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/81.txt
@@ -0,0 +1 @@
+81 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/82.txt b/PartNetMobility/Table/33930/parts_render/82.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6db8dc1b8be64a9ca99f571919b1689835e8227a
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/82.txt
@@ -0,0 +1 @@
+82 drawer_box Drawer box
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/83.txt b/PartNetMobility/Table/33930/parts_render/83.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0910f1d37ea04ea077a1ba98545f58d0c19a953f
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/83.txt
@@ -0,0 +1 @@
+83 handle Handle
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/84.txt b/PartNetMobility/Table/33930/parts_render/84.txt
new file mode 100644
index 0000000000000000000000000000000000000000..83c3170e1fc44b47d045419f1e145afe1277fb7b
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/84.txt
@@ -0,0 +1 @@
+84 drawer_front Drawer front
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/85.txt b/PartNetMobility/Table/33930/parts_render/85.txt
new file mode 100644
index 0000000000000000000000000000000000000000..07cd386167264fc216f141f98b67de1bf4473bda
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/85.txt
@@ -0,0 +1 @@
+85 drawer_side Drawer side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/86.txt b/PartNetMobility/Table/33930/parts_render/86.txt
new file mode 100644
index 0000000000000000000000000000000000000000..61bbcc7b41d0e63d5776edc0674642015738996f
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/86.txt
@@ -0,0 +1 @@
+86 drawer_side Drawer side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/88.txt b/PartNetMobility/Table/33930/parts_render/88.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c6155e19a93ee1a001c5f0d13ad5e066aedffa49
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/88.txt
@@ -0,0 +1 @@
+88 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/91.txt b/PartNetMobility/Table/33930/parts_render/91.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0e619141725a4330ac6b29eb13a3ac173b59e457
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/91.txt
@@ -0,0 +1 @@
+91 drawer_box Drawer box
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/92.txt b/PartNetMobility/Table/33930/parts_render/92.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f7c8718038b0a9b5de44366455fed0956ec56a7e
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/92.txt
@@ -0,0 +1 @@
+92 drawer_front Drawer front
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/93.txt b/PartNetMobility/Table/33930/parts_render/93.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b0988fc96b3f72d69f857dcae8c43ead369b3144
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/93.txt
@@ -0,0 +1 @@
+93 drawer_side Drawer side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/95.txt b/PartNetMobility/Table/33930/parts_render/95.txt
new file mode 100644
index 0000000000000000000000000000000000000000..833f2ba23383d1609f1e15861167f5c15e23be7f
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/95.txt
@@ -0,0 +1 @@
+95 drawer_back Drawer back
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/96.txt b/PartNetMobility/Table/33930/parts_render/96.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fc42f8f3b7a24ba5cc45f008fca0ee6c4a125295
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/96.txt
@@ -0,0 +1 @@
+96 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render/99.txt b/PartNetMobility/Table/33930/parts_render/99.txt
new file mode 100644
index 0000000000000000000000000000000000000000..79f82d50f5ac10f02ee5defead66c977f9bc3898
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render/99.txt
@@ -0,0 +1 @@
+99 bar_stretcher Bar Stretcher
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/0.txt b/PartNetMobility/Table/33930/parts_render_after_merging/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bf41b5dc1a9bb0cdba1a91ec549cfe9baa70834
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/0.txt
@@ -0,0 +1 @@
+0 table table
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/1.txt b/PartNetMobility/Table/33930/parts_render_after_merging/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7f2ff38d3a9626aac890a9cce80e41a13565e501
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/1.txt
@@ -0,0 +1 @@
+1 regular_table regular_table
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/13.txt b/PartNetMobility/Table/33930/parts_render_after_merging/13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8c366246126860a9eae96509418222b573682cf2
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/13.txt
@@ -0,0 +1 @@
+13 drawer_box drawer_box
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/15.txt b/PartNetMobility/Table/33930/parts_render_after_merging/15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..863083c17657ac913d0c4f01258bca250387375f
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/15.txt
@@ -0,0 +1 @@
+15 drawer_side drawer_side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/16.txt b/PartNetMobility/Table/33930/parts_render_after_merging/16.txt
new file mode 100644
index 0000000000000000000000000000000000000000..09fc51a055ad8122edd638c9040c4d68bb762868
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/16.txt
@@ -0,0 +1 @@
+16 drawer_side drawer_side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/17.txt b/PartNetMobility/Table/33930/parts_render_after_merging/17.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b2f37f364b3318d799138119e81002160f29f881
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/17.txt
@@ -0,0 +1 @@
+17 drawer_back drawer_back
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/18.txt b/PartNetMobility/Table/33930/parts_render_after_merging/18.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a751eec1458989d20ced9a5538de0ad50f3c9c25
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/18.txt
@@ -0,0 +1 @@
+18 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/19.txt b/PartNetMobility/Table/33930/parts_render_after_merging/19.txt
new file mode 100644
index 0000000000000000000000000000000000000000..45688d517e95d78c84133c6b7af9aff519e5e6aa
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/19.txt
@@ -0,0 +1 @@
+19 drawer drawer
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/20.txt b/PartNetMobility/Table/33930/parts_render_after_merging/20.txt
new file mode 100644
index 0000000000000000000000000000000000000000..67471b399314b9971dc91115c3504d798c9b1a50
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/20.txt
@@ -0,0 +1 @@
+20 drawer_box drawer_box
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/21.txt b/PartNetMobility/Table/33930/parts_render_after_merging/21.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9aa75bed27e5d998245659bccd4d90e7857d8d61
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/21.txt
@@ -0,0 +1 @@
+21 drawer_front drawer_front
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/22.txt b/PartNetMobility/Table/33930/parts_render_after_merging/22.txt
new file mode 100644
index 0000000000000000000000000000000000000000..91dab8e130f99d4907b9528fd3ccefc48e29779d
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/22.txt
@@ -0,0 +1 @@
+22 drawer_side drawer_side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/23.txt b/PartNetMobility/Table/33930/parts_render_after_merging/23.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e07055a6ed9f6d2e921034db2f629a8e71df100d
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/23.txt
@@ -0,0 +1 @@
+23 drawer_side drawer_side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/24.txt b/PartNetMobility/Table/33930/parts_render_after_merging/24.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc4b174766fe3df356012951fee2e18b16a82a91
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/24.txt
@@ -0,0 +1 @@
+24 drawer_back drawer_back
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/25.txt b/PartNetMobility/Table/33930/parts_render_after_merging/25.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e824241f598ffd25c06588734ecbc5c67f4bccd6
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/25.txt
@@ -0,0 +1 @@
+25 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/26.txt b/PartNetMobility/Table/33930/parts_render_after_merging/26.txt
new file mode 100644
index 0000000000000000000000000000000000000000..56cfb84be8c16e789b299979aca84a835da50f87
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/26.txt
@@ -0,0 +1 @@
+26 handle handle
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/27.txt b/PartNetMobility/Table/33930/parts_render_after_merging/27.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3987415be10b7851d087f283a8e9f0db64f4ee60
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/27.txt
@@ -0,0 +1 @@
+27 drawer drawer
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/29.txt b/PartNetMobility/Table/33930/parts_render_after_merging/29.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e2dc86e2b288abe77d62eb120167edbfc3ebe1c6
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/29.txt
@@ -0,0 +1 @@
+29 drawer_front drawer_front
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/3.txt b/PartNetMobility/Table/33930/parts_render_after_merging/3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5e068da66505f0a9f3b1006d8fa03aa255ca4c02
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/3.txt
@@ -0,0 +1 @@
+3 tabletop_surface tabletop_surface
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/30.txt b/PartNetMobility/Table/33930/parts_render_after_merging/30.txt
new file mode 100644
index 0000000000000000000000000000000000000000..629d8f7ef9b0b212b6790547d426388c763df737
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/30.txt
@@ -0,0 +1 @@
+30 drawer_side drawer_side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/31.txt b/PartNetMobility/Table/33930/parts_render_after_merging/31.txt
new file mode 100644
index 0000000000000000000000000000000000000000..802a43915d58a9a1a34f64f5c6f91105c6873e5a
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/31.txt
@@ -0,0 +1 @@
+31 drawer_side drawer_side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/32.txt b/PartNetMobility/Table/33930/parts_render_after_merging/32.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e4ffd40f7e2e8423f40ebbec5391e4005db0707c
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/32.txt
@@ -0,0 +1 @@
+32 drawer_back drawer_back
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/34.txt b/PartNetMobility/Table/33930/parts_render_after_merging/34.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7f336be574071fe7cd1ec579696006631018b58b
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/34.txt
@@ -0,0 +1 @@
+34 handle handle
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/35.txt b/PartNetMobility/Table/33930/parts_render_after_merging/35.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f291b2b9fcbda21975af267c51fcdf60d393cc5
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/35.txt
@@ -0,0 +1 @@
+35 drawer drawer
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/39.txt b/PartNetMobility/Table/33930/parts_render_after_merging/39.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fd755733f2f99c69e1bd4b3bf083980e1e4e6402
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/39.txt
@@ -0,0 +1 @@
+39 drawer_side drawer_side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/4.txt b/PartNetMobility/Table/33930/parts_render_after_merging/4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3b29ee2da526ad3cf51f82549e4fa9d2f2de3cca
--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/4.txt
@@ -0,0 +1 @@
+4 board board
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/45.txt b/PartNetMobility/Table/33930/parts_render_after_merging/45.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/45.txt
@@ -0,0 +1 @@
+45 drawer_front drawer_front
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/46.txt b/PartNetMobility/Table/33930/parts_render_after_merging/46.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/46.txt
@@ -0,0 +1 @@
+46 drawer_side drawer_side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/48.txt b/PartNetMobility/Table/33930/parts_render_after_merging/48.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/48.txt
@@ -0,0 +1 @@
+48 drawer_back drawer_back
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/49.txt b/PartNetMobility/Table/33930/parts_render_after_merging/49.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/49.txt
@@ -0,0 +1 @@
+49 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/50.txt b/PartNetMobility/Table/33930/parts_render_after_merging/50.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/50.txt
@@ -0,0 +1 @@
+50 handle handle
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/53.txt b/PartNetMobility/Table/33930/parts_render_after_merging/53.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/53.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/54.txt b/PartNetMobility/Table/33930/parts_render_after_merging/54.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/54.txt
@@ -0,0 +1 @@
+54 drawer_front drawer_front
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/55.txt b/PartNetMobility/Table/33930/parts_render_after_merging/55.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/55.txt
@@ -0,0 +1 @@
+55 drawer_side drawer_side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/56.txt b/PartNetMobility/Table/33930/parts_render_after_merging/56.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/56.txt
@@ -0,0 +1 @@
+56 drawer_side drawer_side
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/57.txt b/PartNetMobility/Table/33930/parts_render_after_merging/57.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/57.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/58.txt b/PartNetMobility/Table/33930/parts_render_after_merging/58.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/58.txt
@@ -0,0 +1 @@
+58 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/6.txt b/PartNetMobility/Table/33930/parts_render_after_merging/6.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/6.txt
@@ -0,0 +1 @@
+6 leg leg
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/60.txt b/PartNetMobility/Table/33930/parts_render_after_merging/60.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/60.txt
@@ -0,0 +1 @@
+60 back_panel back_panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/62.txt b/PartNetMobility/Table/33930/parts_render_after_merging/62.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/62.txt
@@ -0,0 +1 @@
+62 vertical_side_panel vertical_side_panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/63.txt b/PartNetMobility/Table/33930/parts_render_after_merging/63.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/63.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/64.txt b/PartNetMobility/Table/33930/parts_render_after_merging/64.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/64.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/66.txt b/PartNetMobility/Table/33930/parts_render_after_merging/66.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/66.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/68.txt b/PartNetMobility/Table/33930/parts_render_after_merging/68.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/68.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/69.txt b/PartNetMobility/Table/33930/parts_render_after_merging/69.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/69.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/7.txt b/PartNetMobility/Table/33930/parts_render_after_merging/7.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/7.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/70.txt b/PartNetMobility/Table/33930/parts_render_after_merging/70.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/70.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/71.txt b/PartNetMobility/Table/33930/parts_render_after_merging/71.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/71.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/73.txt b/PartNetMobility/Table/33930/parts_render_after_merging/73.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/73.txt
@@ -0,0 +1 @@
+73 vertical_divider_panel vertical_divider_panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/77.txt b/PartNetMobility/Table/33930/parts_render_after_merging/77.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/77.txt
@@ -0,0 +1 @@
+77 vertical_divider_panel vertical_divider_panel
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/80.txt b/PartNetMobility/Table/33930/parts_render_after_merging/80.txt
new file mode 100644
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--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/82.txt b/PartNetMobility/Table/33930/parts_render_after_merging/82.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/82.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/parts_render_after_merging/83.txt b/PartNetMobility/Table/33930/parts_render_after_merging/83.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/parts_render_after_merging/83.txt
@@ -0,0 +1 @@
+83 tabletop_connector tabletop_connector
\ No newline at end of file
diff --git a/PartNetMobility/Table/33930/textured_objs/original_1.mtl b/PartNetMobility/Table/33930/textured_objs/original_1.mtl
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/textured_objs/original_1.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Table/33930/textured_objs/original_1.obj b/PartNetMobility/Table/33930/textured_objs/original_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eabf18b2403a90314eb3726da043760ed36eb0d
--- /dev/null
+++ b/PartNetMobility/Table/33930/textured_objs/original_1.obj
@@ -0,0 +1,317 @@
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diff --git a/PartNetMobility/Table/33930/textured_objs/original_29.obj b/PartNetMobility/Table/33930/textured_objs/original_29.obj
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diff --git a/PartNetMobility/Table/33930/textured_objs/original_38.obj b/PartNetMobility/Table/33930/textured_objs/original_38.obj
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+++ b/PartNetMobility/Table/33930/textured_objs/original_38.obj
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diff --git a/PartNetMobility/Table/33930/textured_objs/original_44.mtl b/PartNetMobility/Table/33930/textured_objs/original_44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ce19599a2daa0886659ce10a7d5cc2b0f404ee0
--- /dev/null
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diff --git a/PartNetMobility/Table/33930/textured_objs/original_44.obj b/PartNetMobility/Table/33930/textured_objs/original_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8af7b6f6b30ada4cbf660563aa4841087f5d3416
--- /dev/null
+++ b/PartNetMobility/Table/33930/textured_objs/original_44.obj
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diff --git a/PartNetMobility/Table/33930/textured_objs/original_45.mtl b/PartNetMobility/Table/33930/textured_objs/original_45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ce19599a2daa0886659ce10a7d5cc2b0f404ee0
--- /dev/null
+++ b/PartNetMobility/Table/33930/textured_objs/original_45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4 0.33725490196078434 0.1568627450980392
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/PartNetMobility/Table/33930/textured_objs/original_45.obj b/PartNetMobility/Table/33930/textured_objs/original_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aecf61b0b640f3e180f062361b8f9a5716e0a091
--- /dev/null
+++ b/PartNetMobility/Table/33930/textured_objs/original_45.obj
@@ -0,0 +1,4746 @@
+# SSTK version 0.8.0
+# 45
+mtllib original_45.mtl
+o Group11/mesh34/mesh34-geometry#mesh34-geometry
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diff --git a/PartNetMobility/Table/33930/textured_objs/original_46.mtl b/PartNetMobility/Table/33930/textured_objs/original_46.mtl
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diff --git a/PartNetMobility/Table/33930/textured_objs/original_46.obj b/PartNetMobility/Table/33930/textured_objs/original_46.obj
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Table/33930/textured_objs/original_46.obj
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diff --git a/PartNetMobility/Table/33930/textured_objs/original_47.obj b/PartNetMobility/Table/33930/textured_objs/original_47.obj
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index 0000000000000000000000000000000000000000..170d0786d5b58ffbdcf9f12ab745f78edf120169
--- /dev/null
+++ b/PartNetMobility/Table/33930/textured_objs/original_47.obj
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diff --git a/PartNetMobility/Table/33930/textured_objs/original_50.obj b/PartNetMobility/Table/33930/textured_objs/original_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae41644ba43e301b8ff78333d2da21690a30d83d
--- /dev/null
+++ b/PartNetMobility/Table/33930/textured_objs/original_50.obj
@@ -0,0 +1,57 @@
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diff --git a/PartNetMobility/Table/33930/textured_objs/original_51.obj b/PartNetMobility/Table/33930/textured_objs/original_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c3e794df2a4b91aee556bca0f4095ac02a3306b
--- /dev/null
+++ b/PartNetMobility/Table/33930/textured_objs/original_51.obj
@@ -0,0 +1,249 @@
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diff --git a/PartNetMobility/Table/33930/textured_objs/original_81.obj b/PartNetMobility/Table/33930/textured_objs/original_81.obj
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diff --git a/PartNetMobility/Table/33930/textured_objs/original_82.mtl b/PartNetMobility/Table/33930/textured_objs/original_82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ce19599a2daa0886659ce10a7d5cc2b0f404ee0
--- /dev/null
+++ b/PartNetMobility/Table/33930/textured_objs/original_82.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4 0.33725490196078434 0.1568627450980392
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/PartNetMobility/Table/33930/textured_objs/original_82.obj b/PartNetMobility/Table/33930/textured_objs/original_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..325303a6cfd7f8ffeb286c356a94d0a1691c50cf
--- /dev/null
+++ b/PartNetMobility/Table/33930/textured_objs/original_82.obj
@@ -0,0 +1,4746 @@
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+# 82
+mtllib original_82.mtl
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diff --git a/PartNetMobility/Table/34617/bounding_box.json b/PartNetMobility/Table/34617/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b1369a673fe80d7e58d9a651e2a6adbd4f60d97
--- /dev/null
+++ b/PartNetMobility/Table/34617/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.863456, -0.586606, -0.237158], "max": [0.865325, 0.17301, 0.312908]}
\ No newline at end of file
diff --git a/PartNetMobility/Table/34617/meta.json b/PartNetMobility/Table/34617/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..728bd60eb73c47851241e176d11c77ff8b9a5e38
--- /dev/null
+++ b/PartNetMobility/Table/34617/meta.json
@@ -0,0 +1 @@
+{"model_id": "d1087cbbd15f509c20768660cf080d12", "anno_id": "34617", "user_id": "shape11", "time_in_sec": "870", "version": "3", "model_cat": "Table"}
\ No newline at end of file
diff --git a/PartNetMobility/Table/34617/mobility.urdf b/PartNetMobility/Table/34617/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6cce85ec8a7fe7fda3e666e71f9177d0d7c7f153
--- /dev/null
+++ b/PartNetMobility/Table/34617/mobility.urdf
@@ -0,0 +1,629 @@
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diff --git a/PartNetMobility/Table/34617/mobility_v2.json b/PartNetMobility/Table/34617/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b52e4d47de0bdccce36d697fde41aee9862cebc9
--- /dev/null
+++ b/PartNetMobility/Table/34617/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"heavy","name":"board","parts":[{"id":5,"name":"board","children":[]},{"id":129,"name":"back_panel","children":[]},{"id":130,"name":"vertical_side_panel","children":[]},{"id":131,"name":"vertical_side_panel","children":[]},{"id":132,"name":"vertical_side_panel","children":[]},{"id":133,"name":"vertical_side_panel","children":[]},{"id":134,"name":"vertical_divider_panel","children":[]},{"id":135,"name":"vertical_divider_panel","children":[]},{"id":136,"name":"vertical_divider_panel","children":[]},{"id":137,"name":"leg","children":[]},{"id":138,"name":"leg","children":[]},{"id":139,"name":"leg","children":[]},{"id":140,"name":"leg","children":[]},{"id":141,"name":"leg","children":[]},{"id":142,"name":"leg","children":[]},{"id":143,"name":"bar_stretcher","children":[]},{"id":144,"name":"bar_stretcher","children":[]},{"id":145,"name":"bar_stretcher","children":[]},{"id":146,"name":"bar_stretcher","children":[]},{"id":147,"name":"bar_stretcher","children":[]},{"id":148,"name":"bar_stretcher","children":[]},{"id":149,"name":"bar_stretcher","children":[]},{"id":150,"name":"bar_stretcher","children":[]},{"id":151,"name":"bar_stretcher","children":[]},{"id":152,"name":"bar_stretcher","children":[]},{"id":153,"name":"tabletop_connector","children":[]},{"id":154,"name":"tabletop_connector","children":[]},{"id":155,"name":"tabletop_connector","children":[]},{"id":156,"name":"tabletop_connector","children":[]},{"id":157,"name":"tabletop_connector","children":[]},{"id":176,"name":"drawer_rails","children":[]},{"id":177,"name":"drawer_rails","children":[]},{"id":186,"name":"drawer_rails","children":[]},{"id":187,"name":"drawer_rails","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"slider","name":"handle","parts":[{"id":174,"name":"handle","children":[]},{"id":175,"name":"handle","children":[]},{"id":178,"name":"drawer_front","children":[]},{"id":179,"name":"drawer_side","children":[]},{"id":180,"name":"drawer_side","children":[]},{"id":181,"name":"drawer_back","children":[]},{"id":182,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.3959999999999999,"noLimit":false}}},{"id":2,"parent":0,"joint":"slider","name":"handle","parts":[{"id":184,"name":"handle","children":[]},{"id":185,"name":"handle","children":[]},{"id":188,"name":"drawer_front","children":[]},{"id":189,"name":"drawer_side","children":[]},{"id":190,"name":"drawer_side","children":[]},{"id":191,"name":"drawer_back","children":[]},{"id":192,"name":"drawer_bottom","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.3959999999999999,"noLimit":false}}}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/34617/result.json b/PartNetMobility/Table/34617/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0abb2f3bc57696bd103a19ca5dc49b3b6183dd3b
--- /dev/null
+++ b/PartNetMobility/Table/34617/result.json
@@ -0,0 +1 @@
+[{"text": "Table", "children": [{"text": "Regular table", "children": [{"text": "Tabletop", "children": [{"text": "Tabletop surface", "children": [{"text": "Board", "objs": ["original-1"], "id": 5, "name": "board"}], "id": 4, "name": "tabletop_surface"}], "id": 2, "name": "tabletop"}, {"text": "Table Base", "children": [{"text": "Drawer Base", "children": [{"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-46"], "id": 178, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-6"], "id": 179, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-5"], "id": 180, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-7"], "id": 181, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-4"], "id": 182, "name": "drawer_bottom"}], "id": 173, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-48"], "id": 174, "name": "handle"}, {"text": "Handle", "objs": ["original-47"], "id": 175, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-34"], "id": 176, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-36"], "id": 177, "name": "drawer_rails"}], "id": 127, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-40", "original-15"], "id": 188, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["new-2"], "id": 189, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["new-1"], "id": 190, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["new-3"], "id": 191, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["new-0"], "id": 192, "name": "drawer_bottom"}], "id": 183, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-41"], "id": 184, "name": "handle"}, {"text": "Handle", "objs": ["original-42"], "id": 185, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-35"], "id": 186, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-33"], "id": 187, "name": "drawer_rails"}], "id": 128, "name": "drawer"}, {"text": "Back panel", "objs": ["original-8"], "id": 129, "name": "back_panel"}, {"text": "Vertical side panel", "objs": ["original-14"], "id": 130, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-12"], "id": 131, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-11"], "id": 132, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-13"], "id": 133, "name": "vertical_side_panel"}, {"text": "Vertical divider panel", "objs": ["original-17"], "id": 134, "name": "vertical_divider_panel"}, {"text": "Vertical divider panel", "objs": ["original-16"], "id": 135, "name": "vertical_divider_panel"}, {"text": "Vertical divider panel", "objs": ["original-18"], "id": 136, "name": "vertical_divider_panel"}, {"text": "Leg", "objs": ["original-2"], "id": 137, "name": "leg"}, {"text": "Leg", "objs": ["original-28"], "id": 138, "name": "leg"}, {"text": "Leg", "objs": ["original-30"], "id": 139, "name": "leg"}, {"text": "Leg", "objs": ["original-31"], "id": 140, "name": "leg"}, {"text": "Leg", "objs": ["original-32"], "id": 141, "name": "leg"}, {"text": "Leg", "objs": ["original-29"], "id": 142, "name": "leg"}, {"text": "Bar Stretcher", "objs": ["original-5"], "id": 143, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-6"], "id": 144, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-3"], "id": 145, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-4"], "id": 146, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-7"], "id": 147, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-23"], "id": 148, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-21"], "id": 149, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-19", "original-9"], "id": 150, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-26"], "id": 151, "name": "bar_stretcher"}, {"text": "Bar Stretcher", "objs": ["original-27"], "id": 152, "name": "bar_stretcher"}, {"text": "Tabletop Connector", "objs": ["original-24"], "id": 153, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-25"], "id": 154, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-20"], "id": 155, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-22"], "id": 156, "name": "tabletop_connector"}, {"text": "Tabletop Connector", "objs": ["original-10"], "id": 157, "name": "tabletop_connector"}], "id": 11, "name": "drawer_base"}], "id": 3, "name": "table_base"}], "id": 1, "name": "regular_table"}], "id": 0, "name": "table"}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/34617/result_after_merging.json b/PartNetMobility/Table/34617/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a9dcdf59f0fb0d07bc96625afaac12203d3e08e
--- /dev/null
+++ b/PartNetMobility/Table/34617/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "table", "text": "table", "id": 0, "children": [{"name": "regular_table", "text": "regular_table", "id": 1, "children": [{"name": "tabletop", "text": "tabletop", "id": 2, "children": [{"name": "tabletop_surface", "text": "tabletop_surface", "id": 3, "children": [{"name": "board", "text": "board", "objs": ["original-1"], "id": 4, "ori_id": 5}], "objs": ["original-1"], "ori_id": 4}], "objs": ["original-1"], "ori_id": 2}, {"name": "table_base", "text": "table_base", "id": 5, "children": [{"name": "drawer_base", "text": "drawer_base", "id": 6, "children": [{"name": "drawer", "text": "drawer", "id": 7, "children": [{"name": "drawer_box", "text": "drawer_box", "id": 8, "children": [{"name": "drawer_front", "text": "drawer_front", "objs": ["original-46"], "id": 9, "ori_id": 178}, {"name": "drawer_side", "text": "drawer_side", "objs": ["new-6"], "id": 10, "ori_id": 179}, {"name": "drawer_side", "text": "drawer_side", "objs": ["new-5"], "id": 11, "ori_id": 180}, {"name": "drawer_back", "text": "drawer_back", "objs": ["new-7"], "id": 12, "ori_id": 181}, {"name": "drawer_bottom", "text": "drawer_bottom", "objs": ["new-4"], "id": 13, "ori_id": 182}], "objs": ["original-46", "new-6", "new-5", "new-7", "new-4"], "ori_id": 173}, {"name": "handle", "text": "handle", "objs": ["original-48"], "id": 14, "ori_id": 174}, {"name": "handle", "text": "handle", "objs": ["original-47"], "id": 15, "ori_id": 175}], "objs": ["original-46", "new-6", "new-5", "new-7", "new-4", "original-48", "original-47", "original-34", "original-36"], "ori_id": 127}, {"name": "drawer", "text": "drawer", "id": 16, "children": [{"name": "drawer_box", "text": "drawer_box", "id": 17, "children": [{"name": "drawer_front", "text": "drawer_front", "objs": ["original-40", "original-15"], "id": 18, "ori_id": 188}, {"name": "drawer_side", "text": "drawer_side", "objs": ["new-2"], "id": 19, "ori_id": 189}, {"name": "drawer_side", "text": "drawer_side", "objs": ["new-1"], "id": 20, "ori_id": 190}, {"name": "drawer_back", "text": "drawer_back", "objs": ["new-3"], "id": 21, "ori_id": 191}, {"name": "drawer_bottom", "text": "drawer_bottom", "objs": ["new-0"], "id": 22, "ori_id": 192}], "objs": ["original-40", "original-15", "new-2", "new-1", "new-3", "new-0"], "ori_id": 183}, {"name": "handle", "text": "handle", "objs": ["original-41"], "id": 23, "ori_id": 184}, {"name": "handle", "text": "handle", "objs": ["original-42"], "id": 24, "ori_id": 185}], "objs": ["original-40", "original-15", "new-2", "new-1", "new-3", "new-0", "original-41", "original-42", "original-35", "original-33"], "ori_id": 128}, {"name": "back_panel", "text": "back_panel", "objs": ["original-8"], "id": 25, "ori_id": 129}, {"name": "vertical_side_panel", "text": "vertical_side_panel", "objs": ["original-14"], "id": 26, "ori_id": 130}, {"name": "vertical_side_panel", "text": "vertical_side_panel", "objs": ["original-12"], "id": 27, "ori_id": 131}, {"name": "vertical_side_panel", "text": "vertical_side_panel", "objs": ["original-11"], "id": 28, "ori_id": 132}, {"name": "vertical_side_panel", "text": "vertical_side_panel", "objs": ["original-13"], "id": 29, "ori_id": 133}, {"name": "vertical_divider_panel", "text": "vertical_divider_panel", "objs": ["original-17"], "id": 30, "ori_id": 134}, {"name": "vertical_divider_panel", "text": "vertical_divider_panel", "objs": ["original-16"], "id": 31, "ori_id": 135}, {"name": "vertical_divider_panel", "text": "vertical_divider_panel", "objs": ["original-18"], "id": 32, "ori_id": 136}, {"name": "leg", "text": "leg", "objs": ["original-2"], "id": 33, "ori_id": 137}, {"name": "leg", "text": "leg", "objs": ["original-28"], "id": 34, "ori_id": 138}, {"name": "leg", "text": "leg", "objs": ["original-30"], "id": 35, "ori_id": 139}, {"name": "leg", "text": "leg", "objs": ["original-31"], "id": 36, "ori_id": 140}, {"name": "leg", "text": "leg", "objs": ["original-32"], "id": 37, "ori_id": 141}, {"name": "leg", "text": "leg", "objs": ["original-29"], "id": 38, "ori_id": 142}, {"name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-5"], "id": 39, "ori_id": 143}, {"name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-6"], "id": 40, "ori_id": 144}, {"name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-3"], "id": 41, "ori_id": 145}, {"name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-4"], "id": 42, "ori_id": 146}, {"name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-7"], "id": 43, "ori_id": 147}, {"name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-23"], "id": 44, "ori_id": 148}, {"name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-21"], "id": 45, "ori_id": 149}, {"name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-19", "original-9"], "id": 46, "ori_id": 150}, {"name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-26"], "id": 47, "ori_id": 151}, {"name": "bar_stretcher", "text": "bar_stretcher", "objs": ["original-27"], "id": 48, "ori_id": 152}, {"name": "tabletop_connector", "text": "tabletop_connector", "objs": ["original-24"], "id": 49, "ori_id": 153}, {"name": "tabletop_connector", "text": "tabletop_connector", "objs": ["original-25"], "id": 50, "ori_id": 154}, {"name": "tabletop_connector", "text": "tabletop_connector", "objs": ["original-20"], "id": 51, "ori_id": 155}, {"name": "tabletop_connector", "text": "tabletop_connector", "objs": ["original-22"], "id": 52, "ori_id": 156}, {"name": "tabletop_connector", "text": "tabletop_connector", "objs": ["original-10"], "id": 53, "ori_id": 157}], "objs": ["original-46", "new-6", "new-5", "new-7", "new-4", "original-48", "original-47", "original-34", "original-36", "original-40", "original-15", "new-2", "new-1", "new-3", "new-0", "original-41", "original-42", "original-35", "original-33", "original-8", "original-14", "original-12", "original-11", "original-13", "original-17", "original-16", "original-18", "original-2", "original-28", "original-30", "original-31", "original-32", "original-29", "original-5", "original-6", "original-3", "original-4", "original-7", "original-23", "original-21", "original-19", "original-9", "original-26", "original-27", "original-24", "original-25", "original-20", "original-22", "original-10"], "ori_id": 11}], "objs": ["original-46", "new-6", "new-5", "new-7", "new-4", "original-48", "original-47", "original-34", "original-36", "original-40", "original-15", "new-2", "new-1", "new-3", "new-0", "original-41", "original-42", "original-35", "original-33", "original-8", "original-14", "original-12", "original-11", "original-13", "original-17", "original-16", "original-18", "original-2", "original-28", "original-30", "original-31", "original-32", "original-29", "original-5", "original-6", "original-3", "original-4", "original-7", "original-23", "original-21", "original-19", "original-9", "original-26", "original-27", "original-24", "original-25", "original-20", "original-22", "original-10"], "ori_id": 3}], "objs": ["original-1", "original-46", "new-6", "new-5", "new-7", "new-4", "original-48", "original-47", "original-34", "original-36", "original-40", "original-15", "new-2", "new-1", "new-3", "new-0", "original-41", "original-42", "original-35", "original-33", "original-8", "original-14", "original-12", "original-11", "original-13", "original-17", "original-16", "original-18", "original-2", "original-28", "original-30", "original-31", "original-32", "original-29", "original-5", "original-6", "original-3", "original-4", "original-7", "original-23", "original-21", "original-19", "original-9", "original-26", "original-27", "original-24", "original-25", "original-20", "original-22", "original-10"], "ori_id": 1}], "objs": ["original-1", "original-46", "new-6", "new-5", "new-7", "new-4", "original-48", "original-47", "original-34", "original-36", "original-40", "original-15", "new-2", "new-1", "new-3", "new-0", "original-41", "original-42", "original-35", "original-33", "original-8", "original-14", "original-12", "original-11", "original-13", "original-17", "original-16", "original-18", "original-2", "original-28", "original-30", "original-31", "original-32", "original-29", "original-5", "original-6", "original-3", "original-4", "original-7", "original-23", "original-21", "original-19", "original-9", "original-26", "original-27", "original-24", "original-25", "original-20", "original-22", "original-10"], "ori_id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Table/34617/semantics.txt b/PartNetMobility/Table/34617/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8c8898e498cb546c3b7fa8612742977c6bc4a15f
--- /dev/null
+++ b/PartNetMobility/Table/34617/semantics.txt
@@ -0,0 +1,3 @@
+link_0 heavy furniture_body
+link_1 slider drawer
+link_2 slider drawer
diff --git a/PartNetMobility/Table/34617/tree_hier.html b/PartNetMobility/Table/34617/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..a9472655aa670af3fe8ccf18297e86a44b4e6275
--- /dev/null
+++ b/PartNetMobility/Table/34617/tree_hier.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table Table
1 regular_table Regular table
2 tabletop Tabletop
3 table_base Table Base
4 tabletop_surface Tabletop surface
11 drawer_base Drawer Base
5 board Board
127 drawer Drawer
128 drawer Drawer
129 back_panel Back panel
130 vertical_side_panel Vertical side panel
131 vertical_side_panel Vertical side panel
132 vertical_side_panel Vertical side panel
133 vertical_side_panel Vertical side panel
134 vertical_divider_panel Vertical divider panel
135 vertical_divider_panel Vertical divider panel
136 vertical_divider_panel Vertical divider panel
137 leg Leg
138 leg Leg
139 leg Leg
140 leg Leg
141 leg Leg
142 leg Leg
143 bar_stretcher Bar Stretcher
144 bar_stretcher Bar Stretcher
145 bar_stretcher Bar Stretcher
146 bar_stretcher Bar Stretcher
147 bar_stretcher Bar Stretcher
148 bar_stretcher Bar Stretcher
149 bar_stretcher Bar Stretcher
150 bar_stretcher Bar Stretcher
151 bar_stretcher Bar Stretcher
152 bar_stretcher Bar Stretcher
153 tabletop_connector Tabletop Connector
154 tabletop_connector Tabletop Connector
155 tabletop_connector Tabletop Connector
156 tabletop_connector Tabletop Connector
157 tabletop_connector Tabletop Connector
173 drawer_box Drawer box
174 handle Handle
175 handle Handle
176 drawer_rails Drawer rails
177 drawer_rails Drawer rails
183 drawer_box Drawer box
184 handle Handle
185 handle Handle
186 drawer_rails Drawer rails
187 drawer_rails Drawer rails
178 drawer_front Drawer front
179 drawer_side Drawer side
180 drawer_side Drawer side
181 drawer_back Drawer back
182 drawer_bottom Drawer bottom
188 drawer_front Drawer front
189 drawer_side Drawer side
190 drawer_side Drawer side
191 drawer_back Drawer back
192 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/PartNetMobility/Table/34617/tree_hier_after_merging.html b/PartNetMobility/Table/34617/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..983d88215bb55b5d15577b4fe337b1e9ef657f9b
--- /dev/null
+++ b/PartNetMobility/Table/34617/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+Simple Viewer
+0 table table
1 regular_table regular_table
2 tabletop tabletop
5 table_base table_base
3 tabletop_surface tabletop_surface
6 drawer_base drawer_base
4 board board
7 drawer drawer
16 drawer drawer
25 back_panel back_panel
26 vertical_side_panel vertical_side_panel
27 vertical_side_panel vertical_side_panel
28 vertical_side_panel vertical_side_panel
29 vertical_side_panel vertical_side_panel
30 vertical_divider_panel vertical_divider_panel
31 vertical_divider_panel vertical_divider_panel
32 vertical_divider_panel vertical_divider_panel
33 leg leg
34 leg leg
35 leg leg
36 leg leg
37 leg leg
38 leg leg
39 bar_stretcher bar_stretcher
40 bar_stretcher bar_stretcher
41 bar_stretcher bar_stretcher
42 bar_stretcher bar_stretcher
43 bar_stretcher bar_stretcher
44 bar_stretcher bar_stretcher
45 bar_stretcher bar_stretcher
46 bar_stretcher bar_stretcher
47 bar_stretcher bar_stretcher
48 bar_stretcher bar_stretcher
49 tabletop_connector tabletop_connector
50 tabletop_connector tabletop_connector
51 tabletop_connector tabletop_connector
52 tabletop_connector tabletop_connector
53 tabletop_connector tabletop_connector
8 drawer_box drawer_box
14 handle handle
15 handle handle
17 drawer_box drawer_box
23 handle handle
24 handle handle
9 drawer_front drawer_front
10 drawer_side drawer_side
11 drawer_side drawer_side
12 drawer_back drawer_back
13 drawer_bottom drawer_bottom
18 drawer_front drawer_front
19 drawer_side drawer_side
20 drawer_side drawer_side
21 drawer_back drawer_back
22 drawer_bottom drawer_bottom
\ No newline at end of file