diff --git a/Dishwasher/12543/hoi_trajectories/handle_1/trajectory.json b/Dishwasher/12543/hoi_trajectories/handle_1/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..16f2fd6016b6d276b6016446915e40667bc057be
--- /dev/null
+++ b/Dishwasher/12543/hoi_trajectories/handle_1/trajectory.json
@@ -0,0 +1,19952 @@
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diff --git a/Dishwasher/12587/hoi_trajectories/handle_1/trajectory.json b/Dishwasher/12587/hoi_trajectories/handle_1/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe347614ef8ca354185e29e0c2703ac3cde9f3b6
--- /dev/null
+++ b/Dishwasher/12587/hoi_trajectories/handle_1/trajectory.json
@@ -0,0 +1,20102 @@
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\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/bounding_box.json b/Dishwasher/12587/partnet_mobility/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..b24f74beefbfa064a59c91f69056a7b643bf26b2
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.524303, -0.752408, -0.549013], "max": [0.527593, 0.758293, 0.581215]}
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/link_annotation_gapartnet.json b/Dishwasher/12587/partnet_mobility/link_annotation_gapartnet.json
new file mode 100644
index 0000000000000000000000000000000000000000..015adf927f718d2788a1b785dff7b3d7ac0ffbe8
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/link_annotation_gapartnet.json
@@ -0,0 +1 @@
+[{"link_name": "link_0", "is_gapart": true, "category": "hinge_door", "bbox": [[-0.4888397937142313, 0.525866769957307, 0.7592639459865609], [-0.4888397675371081, -0.5281195629349494, 0.7592638607462985], [-0.4888397675371081, -0.5281194532951321, -0.5964202500042695], [-0.4888397937142313, 0.5258668795971242, -0.5964201647640073], [-0.38917920454382965, 0.5258667701876216, 0.7592639459865611], [-0.38917917836670646, -0.5281195627046347, 0.7592638607462987], [-0.3891791783667064, -0.5281194530648173, -0.5964202500042695], [-0.38917920454382965, 0.5258668798274388, -0.5964201647640073]]}, {"link_name": "link_1", "is_gapart": false, "category": "", "bbox": []}, {"link_name": "link_2", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.581266034724467, 0.47409226199999976, 0.6569815453783816], [-0.5812660347244671, -0.47738226199999995, 0.6569815453783818], [-0.5812660347244673, -0.47738226199999995, 0.6016003370587815], [-0.5812660347244673, 0.47409226199999976, 0.6016003370587815], [-0.4790945163418522, 0.47409226199999965, 0.6569815453783816], [-0.4790945163418522, -0.477382262, 0.6569815453783816], [-0.47909451634185213, -0.477382262, 0.6016003370587815], [-0.4790945163418521, 0.47409226199999976, 0.6016003370587815]]}]
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/meta.json b/Dishwasher/12587/partnet_mobility/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13f57302ed8c2b6714f1f07253c7d097d5d38a0b
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/meta.json
@@ -0,0 +1 @@
+{"model_id": "a47b9fdc-74fe-4ec1-85be-e165ee84397c", "anno_id": "12587", "user_id": "chuangda019", "time_in_sec": "95", "version": "2", "model_cat": "Dishwasher"}
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/mobility_texture_gapartnet.urdf b/Dishwasher/12587/partnet_mobility/mobility_texture_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6cea5fa3784f6e4768dfc73a22687e71b9fc0440
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/mobility_texture_gapartnet.urdf
@@ -0,0 +1,116 @@
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diff --git a/Dishwasher/12587/partnet_mobility/parts_render/0.txt b/Dishwasher/12587/partnet_mobility/parts_render/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..96b1245d86c0920d5157dceb8184b582be9f64ad
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render/0.txt
@@ -0,0 +1 @@
+0 dishwasher Dish Washer
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render/1.txt b/Dishwasher/12587/partnet_mobility/parts_render/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d05fb93cc0d849f0bc065206d692871b201fbcf
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render/1.txt
@@ -0,0 +1 @@
+1 body Body
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render/2.txt b/Dishwasher/12587/partnet_mobility/parts_render/2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2a7de4e9c051985b954af3d59201c13649d6ea68
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render/2.txt
@@ -0,0 +1 @@
+2 base Base
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render/3.txt b/Dishwasher/12587/partnet_mobility/parts_render/3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cfbe173cb3ec94ca1cbeabef4ed21a7819645a5b
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render/3.txt
@@ -0,0 +1 @@
+3 surface_base Surface Base
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render/4.txt b/Dishwasher/12587/partnet_mobility/parts_render/4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1bdc89499405b56d256560e9d585721f66074345
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render/4.txt
@@ -0,0 +1 @@
+4 surface Surface
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render/5.txt b/Dishwasher/12587/partnet_mobility/parts_render/5.txt
new file mode 100644
index 0000000000000000000000000000000000000000..302a490b9a9467b16ffaf836efb04844007d5cab
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render/5.txt
@@ -0,0 +1 @@
+5 frame Frame
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render/6.txt b/Dishwasher/12587/partnet_mobility/parts_render/6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8ac0c1877d6358fe95b3604b9bb83c84bd9c243a
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render/6.txt
@@ -0,0 +1 @@
+6 door Door
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render/7.txt b/Dishwasher/12587/partnet_mobility/parts_render/7.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4c03e9c21c3bfac5af51a8172acbc2a062c95f5
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render/7.txt
@@ -0,0 +1 @@
+7 door_frame Door Frame
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render/8.txt b/Dishwasher/12587/partnet_mobility/parts_render/8.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b577135559ca9bc2351ee7440df5b589dd63bed6
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render/8.txt
@@ -0,0 +1 @@
+8 handle Handle
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render_after_merging/0.txt b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fcbd902c5f32522133522ad13f92810444a4292d
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/0.txt
@@ -0,0 +1 @@
+0 dishwasher dishwasher
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render_after_merging/1.txt b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4189c81d70f415f5f795021a31ff2811682932f8
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/1.txt
@@ -0,0 +1 @@
+1 body body
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render_after_merging/2.txt b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c04c0538848ce4187d44f1d13d05a9b04ea365aa
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/2.txt
@@ -0,0 +1 @@
+2 frame frame
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render_after_merging/3.txt b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b94211db2573929aec9bfaffdfabfe52d796e84f
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/3.txt
@@ -0,0 +1 @@
+3 door door
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render_after_merging/4.txt b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/4.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0e8fd19f43bea50693380a08f3abc5c94a813414
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/4.txt
@@ -0,0 +1 @@
+4 door_frame door_frame
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render_after_merging/5.txt b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/5.txt
new file mode 100644
index 0000000000000000000000000000000000000000..81957fb2438b0cfb4d4e7d297501f6026222a3e6
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/5.txt
@@ -0,0 +1 @@
+5 handle handle
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render_after_merging/6.txt b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a2993adeafe3e64ff5d68de1a414668413f83de1
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/6.txt
@@ -0,0 +1 @@
+6 base base
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render_after_merging/7.txt b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/7.txt
new file mode 100644
index 0000000000000000000000000000000000000000..70ba6c2e9a244b56e9da2e43ca19f470c63c85ad
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/7.txt
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+7 surface_base surface_base
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/parts_render_after_merging/8.txt b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/8.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a9c1232e9315979c0426fc47315eed2264584ad3
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/parts_render_after_merging/8.txt
@@ -0,0 +1 @@
+8 surface surface
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/point_sample/label-10000.txt b/Dishwasher/12587/partnet_mobility/point_sample/label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b8053627296e0027c98652760e97280dd72d031a
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/point_sample/label-10000.txt
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diff --git a/Dishwasher/12587/partnet_mobility/point_sample/pts-10000.txt b/Dishwasher/12587/partnet_mobility/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..76e878f6dcff3b8ca672ac9fe407e14862d4da1a
--- /dev/null
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diff --git a/Dishwasher/12587/partnet_mobility/point_sample/sample-points-all-label-10000.txt b/Dishwasher/12587/partnet_mobility/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a35ddc6bf1139287be34931ba867448dc60ceea
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/point_sample/sample-points-all-label-10000.txt
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diff --git a/Dishwasher/12587/partnet_mobility/point_sample/sample-points-all-pts-label-10000.ply b/Dishwasher/12587/partnet_mobility/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..73fdc8c434915dee43b143f18d207f321ef2a55f
--- /dev/null
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diff --git a/Dishwasher/12587/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/Dishwasher/12587/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f1d76d14706bfdeafc5dda808e5d8562b64ee330
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/Dishwasher/12587/partnet_mobility/result.json b/Dishwasher/12587/partnet_mobility/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f6057ba7741d8bcecb71e0686d8fc450c7af72e
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/result.json
@@ -0,0 +1 @@
+[{"text": "Dish Washer", "children": [{"text": "Body", "children": [{"text": "Frame", "objs": ["new-1"], "id": 5, "name": "frame"}, {"text": "Door", "children": [{"text": "Door Frame", "objs": ["original-4", "original-2", "original-7", "original-8"], "id": 7, "name": "door_frame"}, {"text": "Handle", "objs": ["original-5"], "id": 8, "name": "handle"}], "id": 6, "name": "door"}], "id": 1, "name": "body"}, {"text": "Base", "children": [{"text": "Surface Base", "children": [{"text": "Surface", "objs": ["new-0", "original-3"], "id": 4, "name": "surface"}], "id": 3, "name": "surface_base"}], "id": 2, "name": "base"}], "id": 0, "name": "dishwasher"}]
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/result_after_merging.json b/Dishwasher/12587/partnet_mobility/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dea7c48f3799904a2b166cfb83f5e104f019c57
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"name": "frame", "text": "frame", "id": 2, "objs": ["new-1"], "ori_id": 5}, {"children": [{"name": "door_frame", "text": "door_frame", "id": 4, "objs": ["original-4", "original-2", "original-7", "original-8"], "ori_id": 7}, {"name": "handle", "text": "handle", "id": 5, "objs": ["original-5"], "ori_id": 8}], "ori_id": 6, "name": "door", "text": "door", "id": 3, "objs": ["original-4", "original-2", "original-7", "original-8", "original-5"]}], "ori_id": 1, "name": "body", "text": "body", "id": 1, "objs": ["new-1", "original-4", "original-2", "original-7", "original-8", "original-5"]}, {"children": [{"children": [{"name": "surface", "text": "surface", "id": 8, "objs": ["new-0", "original-3"], "ori_id": 4}], "ori_id": 3, "name": "surface_base", "text": "surface_base", "id": 7, "objs": ["new-0", "original-3"]}], "ori_id": 2, "name": "base", "text": "base", "id": 6, "objs": ["new-0", "original-3"]}], "ori_id": 0, "name": "dishwasher", "text": "dishwasher", "id": 0, "objs": ["new-1", "original-4", "original-2", "original-7", "original-8", "original-5", "new-0", "original-3"]}]
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/semantics.txt b/Dishwasher/12587/partnet_mobility/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5246c243bce8e6eea957b8419ca58c0638ad6aed
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotation_door
+link_1 heavy dishwasher_body
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/new-0.mtl b/Dishwasher/12587/partnet_mobility/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..672b8492cc0af374fe505590a29b78ed0cd78e2b
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/new-0.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
+Kd 0.11764705882352941 0.11764705882352941 0.11764705882352941
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/new-0.obj b/Dishwasher/12587/partnet_mobility/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aff70943951d2d81527cf00a049f7d9a10346969
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/new-0.obj
@@ -0,0 +1,14 @@
+mtllib new-0.mtl
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+v 0.521998 -0.595743 0.390979
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+vn 0.000000 0.000000 1.000000
+usemtl material-0
+f 1//1 2//1 3//1
+f 4//2 5//2 6//2
+f 5//2 4//2 7//2
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/new-0.obj.convex.stl b/Dishwasher/12587/partnet_mobility/textured_objs/new-0.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..bfc533192e64acf300615027e140ff954fde6780
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/new-0.obj.convex.stl
@@ -0,0 +1,50 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
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+ endloop
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+ facet normal 0 0 0
+ outer loop
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+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex 0.521997988 -0.752408028 -0.549013019
+ vertex 0.521997988 -0.595743001 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex 0.521997988 -0.595743001 0.390978992
+ vertex 0.521997988 -0.752408028 -0.549013019
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.518706977 -0.595743001 0.390978992
+ vertex 0.521997988 -0.752408028 -0.549013019
+ vertex -0.518706977 -0.752408028 0.390978992
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/new-1.mtl b/Dishwasher/12587/partnet_mobility/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..672b8492cc0af374fe505590a29b78ed0cd78e2b
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/new-1.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
+Kd 0.11764705882352941 0.11764705882352941 0.11764705882352941
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/new-1.obj b/Dishwasher/12587/partnet_mobility/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8e1df7b00105c56a1859e8338f7cab2584e541e
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/new-1.obj
@@ -0,0 +1,32 @@
+mtllib new-1.mtl
+v -0.518707 0.747103 -0.549013
+v 0.521998 -0.752408 -0.549013
+v -0.518707 -0.752408 -0.549013
+v 0.521998 0.747103 -0.549013
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+v -0.518707 -0.752408 -0.549013
+v 0.521998 0.747103 0.390979
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+v -0.518707 0.747103 0.390979
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+v 0.521998 -0.752408 -0.549013
+v 0.521998 -0.595743 0.390979
+v 0.521998 0.747103 0.390979
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+vn 0.000000 0.000000 -1.000000
+vn -1.000000 0.000000 0.000000
+vn 0.000000 1.000000 0.000000
+vn 1.000000 0.000000 0.000000
+usemtl material-0
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+f 2//1 1//1 4//1
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+f 11//3 10//3 13//3
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+f 16//4 14//4 17//4
\ No newline at end of file
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/new-1.obj.convex.stl b/Dishwasher/12587/partnet_mobility/textured_objs/new-1.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..e3d7ca0ec3ac45fe2bc8de42c81f0622cd65094f
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/new-1.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
+ vertex 0.521997988 0.747102976 -0.549013019
+ vertex -0.518706977 0.747102976 -0.549013019
+ vertex -0.518706977 0.747102976 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex -0.518706977 0.747102976 0.390978992
+ vertex 0.521997988 0.747102976 0.390978992
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+ facet normal 0 0 0
+ outer loop
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+ vertex -0.518706977 0.747102976 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex -0.518706977 0.747102976 -0.549013019
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex 0.521997988 0.747102976 -0.549013019
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+ facet normal 0 0 0
+ outer loop
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+ vertex 0.521997988 -0.752408028 -0.549013019
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex 0.521997988 -0.752408028 -0.549013019
+ vertex -0.518706977 -0.752408028 0.390978992
+ endloop
+ endfacet
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+ facet normal 0 0 0
+ outer loop
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+ vertex 0.521997988 0.747102976 -0.549013019
+ endloop
+ endfacet
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+ facet normal 0 0 0
+ outer loop
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+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex -0.518706977 0.747102976 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex -0.518706977 -0.752408028 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex -0.518706977 -0.752408028 0.390978992
+ vertex 0.521997988 -0.752408028 -0.549013019
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/original-2.mtl b/Dishwasher/12587/partnet_mobility/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/original-2.obj b/Dishwasher/12587/partnet_mobility/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d506328f5eaceebbc0cd29d8de13f37b9eebfc8e
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/original-2.obj
@@ -0,0 +1,23 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o #ID56
+v -0.518707 0.747103 0.390979
+v 0.521998 -0.595743 0.390979
+v -0.518707 -0.595743 0.390979
+v 0.521998 0.747103 0.390979
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+v -0.524303 -0.595743 0.480502
+v -0.524303 -0.595743 0.390979
+v 0.527593 -0.595743 0.480502
+v 0.521998 -0.595743 0.390979
+v 0.527593 -0.595743 0.390979
+vn 0 0 -1
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 6//2 7//2
+f 6//2 5//2 8//2
+f 8//2 5//2 9//2
+f 8//2 9//2 10//2
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/original-2.obj.convex.stl b/Dishwasher/12587/partnet_mobility/textured_objs/original-2.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c37cefdace5e216df2b293ece0ac85bdb97bfa1f
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/original-2.obj.convex.stl
@@ -0,0 +1,66 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
+ vertex 0.521997988 0.747102976 0.390978992
+ vertex -0.518706977 0.747102976 0.390978992
+ vertex -0.524303019 -0.595743001 0.480502009
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.521997988 0.747102976 0.390978992
+ vertex -0.524303019 -0.595743001 0.480502009
+ vertex 0.527593017 -0.595743001 0.480502009
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex -0.524303019 -0.595743001 0.480502009
+ vertex -0.518706977 0.747102976 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex -0.524303019 -0.595743001 0.390978992
+ vertex -0.518706977 0.747102976 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex -0.518706977 0.747102976 0.390978992
+ vertex 0.521997988 0.747102976 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex 0.521997988 0.747102976 0.390978992
+ vertex 0.527593017 -0.595743001 0.480502009
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex -0.524303019 -0.595743001 0.480502009
+ vertex -0.524303019 -0.595743001 0.390978992
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/original-3.mtl b/Dishwasher/12587/partnet_mobility/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/original-3.obj b/Dishwasher/12587/partnet_mobility/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e99ad7aae74892b0027429c70a0775c64bcfc364
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/original-3.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o #ID64
+v 0.521998 -0.752408 -0.549013
+v -0.518707 -0.752408 0.390979
+v -0.518707 -0.752408 -0.549013
+v 0.521998 -0.752408 0.390979
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/original-3.obj.convex.stl b/Dishwasher/12587/partnet_mobility/textured_objs/original-3.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..10f2f1c6b2c703ea3e79db14f6d7599583c3ab44
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/original-3.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
+ vertex -0.518706977 -0.705408454 -0.549013019
+ vertex -0.518706977 -0.799407601 -0.549013019
+ vertex -0.518706977 -0.799407601 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.518706977 -0.705408454 -0.549013019
+ vertex -0.518706977 -0.799407601 0.390978992
+ vertex -0.518706977 -0.705408454 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.521997988 -0.799407601 0.390978992
+ vertex 0.521997988 -0.705408454 0.390978992
+ vertex -0.518706977 -0.705408454 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.521997988 -0.799407601 0.390978992
+ vertex -0.518706977 -0.705408454 0.390978992
+ vertex -0.518706977 -0.799407601 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.521997988 -0.799407601 0.390978992
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+ vertex -0.518706977 -0.799407601 -0.549013019
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.521997988 -0.799407601 0.390978992
+ vertex -0.518706977 -0.799407601 -0.549013019
+ vertex 0.521997988 -0.799407601 -0.549013019
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.521997988 -0.705408454 -0.549013019
+ vertex 0.521997988 -0.799407601 -0.549013019
+ vertex -0.518706977 -0.799407601 -0.549013019
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex -0.518706977 -0.799407601 -0.549013019
+ vertex -0.518706977 -0.705408454 -0.549013019
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex -0.518706977 -0.705408454 -0.549013019
+ vertex -0.518706977 -0.705408454 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ vertex -0.518706977 -0.705408454 0.390978992
+ vertex 0.521997988 -0.705408454 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.521997988 -0.705408454 -0.549013019
+ vertex 0.521997988 -0.705408454 0.390978992
+ vertex 0.521997988 -0.799407601 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex 0.521997988 -0.705408454 -0.549013019
+ vertex 0.521997988 -0.799407601 0.390978992
+ vertex 0.521997988 -0.799407601 -0.549013019
+ endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/original-4.mtl b/Dishwasher/12587/partnet_mobility/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/original-4.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/original-4.obj b/Dishwasher/12587/partnet_mobility/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edebe1d9c26736930a475e0590288c64f4fb7307
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/original-4.obj
@@ -0,0 +1,68 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o #ID70
+v 0.527593 0.758293 0.480502
+v -0.524303 0.758293 0.390979
+v -0.524303 0.758293 0.480502
+v 0.527593 0.758293 0.390979
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+v -0.518707 -0.595743 0.390979
+v -0.524303 -0.595743 0.390979
+v -0.518707 0.747103 0.390979
+v 0.521998 0.747103 0.390979
+v 0.527593 -0.595743 0.390979
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+v 0.527593 0.758293 0.480502
+v 0.527593 -0.595743 0.480502
+v 0.527593 0.758293 0.390979
+vt 1.325 1.125
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+vt 0.5416667 0.1166667
+vt 1.325 0.1166667
+vt 0.6208333 0.1166667
+vt 0.5541667 1.125
+vt 0.5541667 0.1166667
+vt 0.6208333 1.125
+vn 0 1 0
+vn 0 0 -1
+vn -1 0 0
+vn 0 0 1
+vn 1 0 0
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 5/5/2 6/6/2 7/7/2
+f 6/6/2 5/5/2 8/8/2
+f 8/8/2 5/5/2 9/9/2
+f 9/9/2 10/10/2 11/11/2
+f 10/10/2 9/9/2 12/12/2
+f 12/12/2 9/9/2 5/5/2
+f 13/5/3 14/13/3 15/14/3
+f 14/13/3 13/5/3 16/7/3
+f 17/1/4 18/15/4 19/16/4
+f 18/15/4 17/1/4 20/3/4
+f 21/17/5 22/18/5 23/19/5
+f 22/18/5 21/17/5 24/20/5
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/original-4.obj.convex.stl b/Dishwasher/12587/partnet_mobility/textured_objs/original-4.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..764616fa3073c5eb2ee376480177c500fa40cd61
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/original-4.obj.convex.stl
@@ -0,0 +1,98 @@
+solid AssimpScene
+ facet normal 0 0 0
+ outer loop
+ vertex -0.524303019 0.758292973 0.480502009
+ vertex -0.524303019 -0.595743001 0.480502009
+ vertex 0.527593017 -0.595743001 0.480502009
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.524303019 0.758292973 0.480502009
+ vertex 0.527593017 -0.595743001 0.480502009
+ vertex 0.527593017 0.758292973 0.480502009
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
+ vertex -0.524303019 0.758292973 0.480502009
+ vertex 0.527593017 0.758292973 0.480502009
+ vertex 0.527593017 0.758292973 0.390978992
+ endloop
+ endfacet
+
+ facet normal 0 0 0
+ outer loop
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+ endfacet
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+ facet normal 0 0 0
+ outer loop
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+ endloop
+ endfacet
+
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diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/original-7.mtl b/Dishwasher/12587/partnet_mobility/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..778c25b5a09d9681ca6e177481eaee8136fee5b8
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/original-7.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_2.jpg
+
diff --git a/Dishwasher/12587/partnet_mobility/textured_objs/original-7.obj b/Dishwasher/12587/partnet_mobility/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d1c3aef1e4d68515695dea7c786a06eb9f0060f
--- /dev/null
+++ b/Dishwasher/12587/partnet_mobility/textured_objs/original-7.obj
@@ -0,0 +1,2377 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..7c5297564bb6cbadea5bd7f842787f4b615bb9d9
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..9cff2a4c5af044a40f7b50238d206ce5ef5cb130
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/TrashCan/102244/partnet_mobility/textured_objs/original-94.mtl b/TrashCan/102244/partnet_mobility/textured_objs/original-94.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
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diff --git a/TrashCan/103008/partnet_mobility/link_annotation_gapartnet.json b/TrashCan/103008/partnet_mobility/link_annotation_gapartnet.json
new file mode 100644
index 0000000000000000000000000000000000000000..23afb52efbc1580f2c412f3f57fe5f2cc64917f2
--- /dev/null
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@@ -0,0 +1 @@
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diff --git a/TrashCan/103008/partnet_mobility/mobility.urdf b/TrashCan/103008/partnet_mobility/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1a9c31f439b54eb02ea5d860c59b66a8e3be665b
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diff --git a/TrashCan/103008/partnet_mobility/mobility_annotation_gapartnet.urdf b/TrashCan/103008/partnet_mobility/mobility_annotation_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5638281769fc9b06751f545a4c38b526cdf694a9
--- /dev/null
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diff --git a/TrashCan/103008/partnet_mobility/mobility_texture_gapartnet.urdf b/TrashCan/103008/partnet_mobility/mobility_texture_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..73c95b4a9737d0efc80fbb2b92c0bcac491f55b8
--- /dev/null
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@@ -0,0 +1,440 @@
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diff --git a/TrashCan/103008/partnet_mobility/mobility_v2.json b/TrashCan/103008/partnet_mobility/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f142c24a263ae655f59497b6da49d255753cff1e
--- /dev/null
+++ b/TrashCan/103008/partnet_mobility/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"opener","parts":[{"id":1,"name":"opener"}],"jointData":{"axis":{"origin":[0.30774699999999977,-0.6034190893559488,0.4815362512288288],"direction":[1,0,0]},"limit":{"a":0,"b":90,"noLimit":false}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/TrashCan/103008/partnet_mobility/result_original.json b/TrashCan/103008/partnet_mobility/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..3741cffd54ba2edce4190146048101346c782e36
--- /dev/null
+++ b/TrashCan/103008/partnet_mobility/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Trashcan", "text": "Trashcan", "children": [{"id": 1, "name": "opener", "text": "opener", "objs": ["original-50", "original-48", "original-51", "original-52", "original-22"]}]}]
\ No newline at end of file
diff --git a/TrashCan/103008/partnet_mobility/semantics_gapartnet.txt b/TrashCan/103008/partnet_mobility/semantics_gapartnet.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f8db2f19dfd3439648766ace9d9f67fabd765e98
--- /dev/null
+++ b/TrashCan/103008/partnet_mobility/semantics_gapartnet.txt
@@ -0,0 +1,3 @@
+link_0 hinge door
+link_1 free trashcan_body
+link_2 fixed handle