diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-101.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4b203e62f69c717934e8ea9055843dfbcc67b6a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-101.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 101
+mtllib original-101.mtl
+o mesh101/mesh101-geometry#mesh101-geometry
+v 0.232138 0.686616 0.467411
+v 0.228540 0.686616 0.464715
+v 0.228473 0.686616 0.465266
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+usemtl material_0_0
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+f 4//2 1//2 2//2
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+f 10//2 1//2 9//2
+f 10//1 1//1 11//1
+f 11//2 1//2 10//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-101.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-101.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..0f1415e7803a94123ea69342e7d6dc6bfc3683eb
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-101.obj.convex.stl
@@ -0,0 +1,50 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.232611999 0.686822951 0.462873012
+  vertex 0.228472993 0.686409056 0.462873012
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.228472993 0.686409056 0.462873012
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+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.228472993 0.686409056 0.462873012
+  endloop
+ endfacet
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+ facet normal 0 0 0
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+  vertex 0.228472993 0.686409056 0.462873012
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+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.228472993 0.686409056 0.467411011
+  vertex 0.232611999 0.686409056 0.462873012
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.232611999 0.686409056 0.462873012
+  vertex 0.232611999 0.686822951 0.462873012
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-105.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43f9d700b82ed98b2480bb8eb05b5eb446260e61
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-105.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 105
+mtllib original-105.mtl
+o mesh105/mesh105-geometry#mesh105-geometry
+v 0.130544 0.688206 0.459614
+v 0.124838 0.688206 0.457052
+v 0.121532 0.688206 0.456698
+vn 0 1 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-105.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-105.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..5dc2cc6747a4ea7b07b339d75660c5cfd563aad5
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-105.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.130544007 0.68835181 0.459613979
+  vertex 0.121531993 0.688060224 0.456698
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+ endfacet
+
+ facet normal 0 0 0
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+  vertex 0.121531993 0.688060224 0.456698
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex 0.130544007 0.68835181 0.459613979
+  endloop
+ endfacet
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+ facet normal 0 0 0
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+  vertex 0.130544007 0.68835181 0.459613979
+  vertex 0.130544007 0.688060224 0.456698
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-106.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-106.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..b4e6bca736146b37d11a803c12f81a4c6ccbec63
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-106.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.121532001 0.688273847 0.45805496
+  vertex 0.105098002 0.688138187 0.456698
+  endloop
+ endfacet
+
+ facet normal 0 0 0
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+  vertex 0.105098002 0.688138187 0.456698
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.121532001 0.688273847 0.45805496
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-12.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-12.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/12583/partnet_mobility/textured_objs/original-16.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bf2c05b9d586823b8c1c71947dce0b94df8c512
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-16.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
+o mesh16/mesh16-geometry#mesh16-geometry
+v 0.097402 0.688206 0.472618
+v 0.098487 0.688206 0.464066
+v 0.097021 0.688206 0.469698
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+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-2.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..174bf0ef23f00b082ba7ac240b2a641f061021a8
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-2.obj
@@ -0,0 +1,910 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o mesh2/mesh2-geometry#mesh2-geometry
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-20.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67a6177f8984c2c1d900e050c6e332b8a9a450fe
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-20.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
+o mesh20/mesh20-geometry#mesh20-geometry
+v 0.011899 0.686990 0.464502
+v 0.011232 0.686990 0.461649
+v 0.009004 0.686990 0.459614
+v 0.014018 0.686990 0.466777
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-24.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-24.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/12583/partnet_mobility/textured_objs/original-24.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-24.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..f80b6f98148bcdbc3d6f74e0d8525101df17f6a4
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-24.obj.convex.stl
@@ -0,0 +1,50 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.0230190009 0.687065244 0.472618014
+  vertex -0.0230190009 0.687065244 0.464065999
+  vertex -0.0245229974 0.686914802 0.464065999
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.0245229974 0.686914802 0.464065999
+  vertex -0.0245229974 0.686914802 0.472618014
+  endloop
+ endfacet
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+ facet normal 0 0 0
+  outer loop
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+  vertex -0.0245229974 0.686914802 0.472618014
+  vertex -0.0245229974 0.686914802 0.464065999
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex -0.0230190009 0.686914802 0.464065999
+  vertex -0.0245229974 0.686914802 0.464065999
+  vertex -0.0230190009 0.687065244 0.464065999
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.0245229974 0.686914802 0.472618014
+  vertex -0.0230190009 0.686914802 0.464065999
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex -0.0230190009 0.686914802 0.464065999
+  vertex -0.0230190009 0.687065244 0.464065999
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-31.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36ab8113a709bc1c1070136b298c5a7fb9b6cf5c
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-31.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 31
+mtllib original-31.mtl
+o mesh31/mesh31-geometry#mesh31-geometry
+v 0.399078 0.687617 0.458642
+v 0.397431 0.687617 0.456686
+v 0.395274 0.687617 0.459897
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+v 0.399019 0.687617 0.458181
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+f 6//1 1//1 7//1
+f 7//2 1//2 6//2
+f 7//1 1//1 8//1
+f 8//2 1//2 7//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-34.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-34.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..eb2a472b80f3876739dc7787ec73dc66ce274b11
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-34.obj.convex.stl
@@ -0,0 +1,50 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex 0.0947670043 0.688281238 0.475329995
+  vertex 0.0947670043 0.688281238 0.466776967
+  vertex 0.0932630002 0.688130796 0.466776967
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.0947670043 0.688281238 0.475329995
+  vertex 0.0932630002 0.688130796 0.466776967
+  vertex 0.0932630002 0.688130796 0.475329995
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.0947670043 0.688130796 0.466776967
+  vertex 0.0932630002 0.688130796 0.475329995
+  vertex 0.0932630002 0.688130796 0.466776967
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.0947670043 0.688130796 0.466776967
+  vertex 0.0932630002 0.688130796 0.466776967
+  vertex 0.0947670043 0.688281238 0.466776967
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.0947670043 0.688281238 0.475329995
+  vertex 0.0932630002 0.688130796 0.475329995
+  vertex 0.0947670043 0.688130796 0.466776967
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
+  vertex 0.0947670043 0.688281238 0.475329995
+  vertex 0.0947670043 0.688130796 0.466776967
+  vertex 0.0947670043 0.688281238 0.466776967
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-37.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89797f16f2a1cccb076975a9cc4fb131c5faa2e7
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-37.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 37
+mtllib original-37.mtl
+o mesh37/mesh37-geometry#mesh37-geometry
+v 0.080356 0.688206 0.456698
+v 0.066954 0.688206 0.457052
+v 0.063921 0.688206 0.458055
+v 0.070255 0.688206 0.456698
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-4.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa71d24338ba7b4bf4e36402827fa166b5a4437f
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-4.obj
@@ -0,0 +1,1838 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o mesh4/mesh4-geometry#mesh4-geometry
+v -0.051188 -0.420197 0.498933
+v -0.047694 -0.414611 0.504837
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-41.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b68dd0a77de4e56b7116eb516eaa6fc5bb046c8e
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-41.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 41
+mtllib original-41.mtl
+o mesh41/mesh41-geometry#mesh41-geometry
+v 0.070255 0.688206 0.482694
+v 0.061244 0.688206 0.479777
+v 0.066954 0.688206 0.482344
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-42.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-42.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..30903dc4e0fa605c51d5ca3904998f43338757ae
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-42.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex 0.0803560019 0.688155413 0.481682003
+  vertex 0.0803560019 0.688256621 0.48269397
+  vertex 0.0702549964 0.688155413 0.481682003
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.0803560019 0.688155413 0.481682003
+  vertex 0.0702549964 0.688155413 0.481682003
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.0702549964 0.688155413 0.481682003
+  vertex 0.0803560019 0.688256621 0.48269397
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.0803560019 0.688256621 0.48269397
+  vertex 0.0803560019 0.688155413 0.481682003
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-45.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-45.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/12583/partnet_mobility/textured_objs/original-46.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-46.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..a98a87b5372f4dfcc758c50cf3cce2e3cc3eab3c
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-46.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex 0.121531993 0.688155293 0.456698
+  vertex 0.121531993 0.688256741 0.457713008
+  vertex 0.111440003 0.688155293 0.456698
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.121531993 0.688155293 0.456698
+  vertex 0.111440003 0.688155293 0.456698
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.111440003 0.688155293 0.456698
+  vertex 0.121531993 0.688256741 0.457713008
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.121531993 0.688256741 0.457713008
+  vertex 0.121531993 0.688155293 0.456698
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-47.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce73e6c3fbb173fd78c3dde2daa0ea6af0240a6
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-47.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 47
+mtllib original-47.mtl
+o mesh47/mesh47-geometry#mesh47-geometry
+v -0.044975 0.688639 0.452258
+v -0.047522 0.688639 0.451128
+v -0.049785 0.688639 0.451888
+vn 0 1 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-48.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a686a9a2200b89da87bee10a5197c36ec8fcfacc
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-48.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 48
+mtllib original-48.mtl
+o mesh48/mesh48-geometry#mesh48-geometry
+v 0.136597 0.689324 0.467175
+v 0.134536 0.689324 0.469458
+v 0.136597 0.689324 0.469092
+vn 0 1 0
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+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-49.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b08d6ea9a88d308923e3747735c547fad48a702
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-49.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 49
+mtllib original-49.mtl
+o mesh49/mesh49-geometry#mesh49-geometry
+v 0.015774 0.688206 0.472618
+v 0.016859 0.688206 0.464066
+v 0.015392 0.688206 0.469698
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+f 4//2 1//2 2//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-5.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ad2bb4cb34aa363b034e1bab8e9d0dc4ccbd29c
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-5.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o mesh5/mesh5-geometry#mesh5-geometry
+v 0.134477 0.688206 0.475330
+v 0.131876 0.688206 0.477121
+v 0.130544 0.688206 0.479777
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+vn 0 1 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-57.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-57.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..770aa1338cadb30ad26a783349cca519085469e6
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-57.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex 0.414925992 0.6868397 0.452722013
+  vertex 0.414925992 0.687392354 0.45824796
+  vertex 0.405785024 0.6868397 0.452722013
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.414925992 0.6868397 0.452722013
+  vertex 0.405785024 0.6868397 0.452722013
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.405785024 0.6868397 0.452722013
+  vertex 0.414925992 0.687392354 0.45824796
+  endloop
+ endfacet
+
+ facet normal 0 0 0
+  outer loop
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+  vertex 0.414925992 0.687392354 0.45824796
+  vertex 0.414925992 0.6868397 0.452722013
+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-65.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9fec827c685d787a0fdc6c58b9a1c8cc082f7c63
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-65.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-68.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-68.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-70.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-70.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..65b7ee95dc867d653e0fe13cc41288e39efaa27a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-70.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
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+ facet normal 0 0 0
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+  endloop
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+ facet normal 0 0 0
+  outer loop
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+ facet normal 0 0 0
+  outer loop
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+  endloop
+ endfacet
+
+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-72.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9b0e42b21bb6edc46f7d265c07a05ddab858032
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-72.obj
@@ -0,0 +1,573 @@
+# SSTK version 0.8.0
+# 72
+mtllib original-72.mtl
+o mesh72/mesh72-geometry#mesh72-geometry
+v -0.186913 0.687903 0.479781
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-72.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-72.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..da6ab5c43a88756c57d808b1100884f5f0974ddc
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-72.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
+  vertex -0.0310839992 0.687878013 0.48071003
+  vertex -0.254619986 0.687878013 0.455603033
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+  endloop
+ endfacet
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+ facet normal 0 0 0
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-74.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64e8c2d8bc8d266b2dfd2699f25edb7a30fd0049
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-74.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 74
+mtllib original-74.mtl
+o mesh74/mesh74-geometry#mesh74-geometry
+v 0.383908 0.687116 0.482194
+v 0.381365 0.687116 0.479695
+v 0.378261 0.687116 0.477869
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+f 4//2 1//2 2//2
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-76.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4b6be640dac6e8ee91753d3c50c4cb15163ca68
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-76.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 76
+mtllib original-76.mtl
+o mesh76/mesh76-geometry#mesh76-geometry
+v 0.412354 0.687116 0.480321
+v 0.408893 0.687116 0.481474
+v 0.405785 0.687116 0.483391
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-83.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-83.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..7f460acdb9c950ea678319ed5f23651ef542acfd
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-83.obj.convex.stl
@@ -0,0 +1,34 @@
+solid AssimpScene
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+ facet normal 0 0 0
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+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-9.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-9.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..a595d374ea0d5970e953d19cc8e63ac7c0d26afd
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-9.obj.convex.stl
@@ -0,0 +1,50 @@
+solid AssimpScene
+ facet normal 0 0 0
+  outer loop
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+  endloop
+ endfacet
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+endsolid AssimpScene
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-90.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-90.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-90.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-92.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-92.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-92.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-93.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-93.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-93.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-94.mtl b/Dishwasher/12583/partnet_mobility/textured_objs/original-94.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-94.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-97.obj b/Dishwasher/12583/partnet_mobility/textured_objs/original-97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9f433ded49955c03ce0c9f96a53e3567f4fa0ed
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-97.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 97
+mtllib original-97.mtl
+o mesh97/mesh97-geometry#mesh97-geometry
+v 0.139291 0.688206 0.453852
+v 0.091592 0.688206 0.452293
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+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/Dishwasher/12583/partnet_mobility/textured_objs/original-97.obj.convex.stl b/Dishwasher/12583/partnet_mobility/textured_objs/original-97.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..47f1b484a630b4f04f3daec1033038f1e66ac8c7
--- /dev/null
+++ b/Dishwasher/12583/partnet_mobility/textured_objs/original-97.obj.convex.stl
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+solid AssimpScene
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+ facet normal 0 0 0
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diff --git a/TrashCan/102234/hoi_trajectories/handle_2/trajectory.json b/TrashCan/102234/hoi_trajectories/handle_2/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb4b17a071b7fa378a7da953ab05beb9cfc32220
--- /dev/null
+++ b/TrashCan/102234/hoi_trajectories/handle_2/trajectory.json
@@ -0,0 +1,20902 @@
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\ No newline at end of file
diff --git a/TrashCan/102234/hoi_trajectories/handle_3/trajectory.json b/TrashCan/102234/hoi_trajectories/handle_3/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9fcacf483fa2d96a703d1e5a1d51ce194558dd5
--- /dev/null
+++ b/TrashCan/102234/hoi_trajectories/handle_3/trajectory.json
@@ -0,0 +1,21206 @@
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new file mode 100644
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/TrashCan/102234/partnet_mobility/textured_objs/original-34.obj.convex.stl b/TrashCan/102234/partnet_mobility/textured_objs/original-34.obj.convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..f32951285399215e1c0f7c1e28fcec76bf11ced0
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diff --git a/TrashCan/102234/partnet_mobility/textured_objs/original-35.obj b/TrashCan/102234/partnet_mobility/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b377bfb12bdaaff1cc4d8d9410768061329886c
--- /dev/null
+++ b/TrashCan/102234/partnet_mobility/textured_objs/original-35.obj
@@ -0,0 +1,420 @@
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diff --git a/TrashCan/102234/partnet_mobility/textured_objs/original-36.obj b/TrashCan/102234/partnet_mobility/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fa9a8c7ba1cd5a267106f2a63125760a58e82c6
--- /dev/null
+++ b/TrashCan/102234/partnet_mobility/textured_objs/original-36.obj
@@ -0,0 +1,892 @@
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diff --git a/TrashCan/102234/partnet_mobility/textured_objs/original-38.obj b/TrashCan/102234/partnet_mobility/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f419b9e635de6816d94361f555b834c22aaa1262
--- /dev/null
+++ b/TrashCan/102234/partnet_mobility/textured_objs/original-38.obj
@@ -0,0 +1,83 @@
+# SSTK version 0.8.0
+# 38
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index 0000000000000000000000000000000000000000..4ad1492e8f5620a8101bb9c1ff8e78ad8df55a3b
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new file mode 100644
index 0000000000000000000000000000000000000000..b24be8d55d8c726d8bbd8c2a8430d3c20dbbd8ea
--- /dev/null
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diff --git a/TrashCan/102234/partnet_mobility/textured_objs/original-45.mtl b/TrashCan/102234/partnet_mobility/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/TrashCan/102234/partnet_mobility/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/TrashCan/102234/partnet_mobility/textured_objs/original-47.obj b/TrashCan/102234/partnet_mobility/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e924d586143e1bfe799ab1afaefc980c4a17000b
--- /dev/null
+++ b/TrashCan/102234/partnet_mobility/textured_objs/original-47.obj
@@ -0,0 +1,219 @@
+# SSTK version 0.8.0
+# 47
+mtllib original-47.mtl
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diff --git a/TrashCan/102234/partnet_mobility/textured_objs/original-65.mtl b/TrashCan/102234/partnet_mobility/textured_objs/original-65.mtl
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diff --git a/TrashCan/102244/partnet_mobility/.DS_Store b/TrashCan/102244/partnet_mobility/.DS_Store
new file mode 100644
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diff --git a/TrashCan/102244/partnet_mobility/bounding_box.json b/TrashCan/102244/partnet_mobility/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..126c6eeba6c83ab5eb0f1d533ff9b642d1ff58cf
--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.386386, -0.790585, -0.632236], "max": [0.384665, 0.717737, 0.675553]}
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diff --git a/TrashCan/102244/partnet_mobility/link_annotation_gapartnet.json b/TrashCan/102244/partnet_mobility/link_annotation_gapartnet.json
new file mode 100644
index 0000000000000000000000000000000000000000..89655c90e3b88cf575c27c303a72ce91161c3b60
--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/link_annotation_gapartnet.json
@@ -0,0 +1 @@
+[{"link_name": "link_0", "is_gapart": true, "category": "hinge_door", "bbox": [[-0.5779245728989132, 0.38460241488699254, 0.36200059181800626], [-0.5779246310512752, -0.3807643540002433, 0.36200065148566485], [-0.5779246310512752, -0.38076443035242424, -0.6173812016950514], [-0.5779245728989132, 0.3846023385348114, -0.6173812613627099], [-0.5346856929363693, 0.3846024144028053, 0.3620005918180065], [-0.5346857510887313, -0.3807643544844303, 0.36200065148566496], [-0.5346857510887311, -0.38076443083661127, -0.6173812016950513], [-0.5346856929363691, 0.3846023380506244, -0.6173812613627099]]}, {"link_name": "link_1", "is_gapart": true, "category": "slider_drawer", "bbox": [[0.3431716521835085, -0.38076395493288256, 0.6342846714747785], [-0.5788802004584428, -0.3807640648499502, 0.6342846714747261], [-0.578880291639581, 0.38411930747631134, 0.6342846714747261], [0.34317156100237034, 0.38411941739337896, 0.6342846714747785], [0.34317165218352397, -0.38076395493288256, 0.3621360616334958], [-0.5788802004584273, -0.3807640648499502, 0.3621360616334434], [-0.5788802916395654, 0.38411930747631134, 0.3621360616334434], [0.3431715610023858, 0.38411941739337896, 0.3621360616334958]]}, {"link_name": "link_2", "is_gapart": false, "category": "", "bbox": []}, {"link_name": "link_3", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.6756018872135429, 0.22689421512329877, 0.2719458255406978], [-0.675601887213543, -0.2229486967591821, 0.2719458255406979], [-0.675601887213543, -0.22294869675918208, 0.246743411381539], [-0.6756018872135429, 0.22689421512329888, 0.246743411381539], [-0.5777296857009538, 0.22689421512329877, 0.2719458255406978], [-0.5777296857009541, -0.2229486967591821, 0.2719458255406979], [-0.577729685700954, -0.2229486967591821, 0.246743411381539], [-0.5777296857009538, 0.22689421512329888, 0.24674341138153888]]}, {"link_name": "link_4", "is_gapart": true, "category": "line_fixed_handle", "bbox": [[-0.6760993176638449, 0.22595513559250638, 0.501836316562572], [-0.6760993176638449, -0.2229482274540692, 0.501836316562572], [-0.6760993176638449, -0.2229482274540692, 0.4767134511161606], [-0.6760993176638449, 0.22595513559250638, 0.4767134511161606], [-0.5778319153834762, 0.22595513559250638, 0.501836316562572], [-0.5778319153834762, -0.2229482274540692, 0.501836316562572], [-0.5778319153834762, -0.2229482274540692, 0.4767134511161606], [-0.5778319153834762, 0.22595513559250638, 0.4767134511161606]]}]
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diff --git a/TrashCan/102244/partnet_mobility/meta.json b/TrashCan/102244/partnet_mobility/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7be2fd754b67a91781fe57b53daf6aa93a187cda
--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "TrashCan", "model_id": "u062b92f8-2460-431a-be57-005200e9b9f9", "version": "1", "anno_id": "2244", "time_in_sec": "74"}
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diff --git a/TrashCan/102244/partnet_mobility/mobility.urdf b/TrashCan/102244/partnet_mobility/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c8a93b36a6cac85b6f92c52c5b53b1638a4ba5fe
--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_u062b92f8-2460-431a-be57-005200e9b9f9">
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+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="opener-1">
+			<origin xyz="-0.380382 0.6165858418398766 -0.5373647084048265"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="opener-1">
+			<origin xyz="-0.380382 0.6165858418398766 -0.5373647084048265"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="opener-1">
+			<origin xyz="-0.380382 0.6165858418398766 -0.5373647084048265"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
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+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
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+		</collision>
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+		<visual name="opener-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
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+			<geometry>
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+		</visual>
+		<visual name="base_body-3">
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+			<geometry>
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+		<visual name="base_body-3">
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+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
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+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
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+		</visual>
+		<visual name="base_body-3">
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+			<geometry>
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+		<visual name="base_body-3">
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
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+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
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+		<collision>
+			<origin xyz="0 0 0"/>
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+			</geometry>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/TrashCan/102244/partnet_mobility/mobility_annotation_gapartnet.urdf b/TrashCan/102244/partnet_mobility/mobility_annotation_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8d03bd52057e9c5ab560ae77bc876f00239a7a2c
--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/mobility_annotation_gapartnet.urdf
@@ -0,0 +1,1219 @@
+<?xml version="1.0" ?>
+<robot name="partnet_u062b92f8-2460-431a-be57-005200e9b9f9">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="opener-1">
+			<origin xyz="-0.380382 0.6165858418398766 -0.5373647084048265"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.380382 0.6165858418398766 -0.5373647084048265"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.380382 -0.6165858418398766 0.5373647084048265"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="opener-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="opener-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.75"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="base_body-3">
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+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
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+		<visual name="base_body-3">
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+		<visual name="base_body-3">
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+		<visual name="base_body-3">
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+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
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+		<visual name="base_body-3">
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+		<visual name="base_body-3">
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+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
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+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
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+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
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+		<visual name="base_body-3">
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+		<visual name="base_body-3">
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+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
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+			</geometry>
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+			</geometry>
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+			</geometry>
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+			<geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
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+		</collision>
+		<collision>
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+			<geometry>
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+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<collision>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
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+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-108.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_3">
+		<visual name="handle-1">
+			<origin xyz="-0.380382 0.6165858418398766 -0.5373647084048265"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="-0.380382 0.6165858418398766 -0.5373647084048265"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="-0.380382 0.6165858418398766 -0.5373647084048265"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.380382 0.6165858418398766 -0.5373647084048265"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.380382 0.6165858418398766 -0.5373647084048265"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.380382 0.6165858418398766 -0.5373647084048265"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_4">
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="link_1"/>
+	</joint>
+</robot>
diff --git a/TrashCan/102244/partnet_mobility/mobility_texture_gapartnet.urdf b/TrashCan/102244/partnet_mobility/mobility_texture_gapartnet.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..36fe3301c73645b3a19e77dd6b60a056f7f7d3b4
--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/mobility_texture_gapartnet.urdf
@@ -0,0 +1,1205 @@
+<?xml version="1.0" ?>
+<robot name="partnet_u062b92f8-2460-431a-be57-005200e9b9f9">
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+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-110.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-107.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-104.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-106.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-109.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-108.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/TrashCan/102244/partnet_mobility/mobility_v2.json b/TrashCan/102244/partnet_mobility/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..57ea3400b07749b6422915636c3d4428e3b0debc
--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"hinge","name":"opener","parts":[{"id":1,"name":"opener"}],"jointData":{"axis":{"origin":[0.380382,-0.6165858418398766,0.5373647084048265],"direction":[1,0,0]},"limit":{"a":0,"b":90,"noLimit":false}}},{"id":1,"parent":2,"joint":"slider","name":"opener","parts":[{"id":2,"name":"opener"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.75,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":3,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/TrashCan/102244/partnet_mobility/result.json b/TrashCan/102244/partnet_mobility/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..96ecf5132a3e2872586fac6434514d5d6abe8626
--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/result.json
@@ -0,0 +1 @@
+[{"text": "Trashcan", "name": "Trashcan", "id": 0, "children": [{"text": "opener", "name": "opener", "id": 1, "objs": ["original-28", "original-30", "original-31", "original-32"]}, {"text": "opener", "name": "opener", "id": 2, "objs": ["original-19", "original-23", "original-24", "original-22", "original-20"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-103", "original-100", "original-36", "original-41", "original-96", "original-64", "original-43", "original-71", "original-52", "original-83", "original-26", "original-110", "original-107", "original-104", "original-4", "original-3", "original-65", "original-2", "original-44", "original-106", "original-16", "original-86", "original-8", "original-109", "original-13", "original-9", "original-45", "original-35", "original-49", "original-93", "original-61", "original-39", "original-59", "original-77", "original-54", "original-63", "original-27", "original-87", "original-51", "original-55", "original-50", "original-6", "original-37", "original-48", "original-15", "original-85", "original-56", "original-76", "original-108", "original-99", "original-62", "original-75", "original-66", "original-98", "original-67", "original-69", "original-11", "original-38", "original-68", "original-80", "original-70", "original-74", "original-91", "original-17", "original-12", "original-92", "original-42", "original-79", "original-102", "original-88", "original-47", "original-95", "original-53", "original-7", "original-105", "original-101", "original-1", "original-81", "original-84", "original-94", "original-78", "original-89", "original-10", "original-82", "original-60", "original-90", "original-40", "original-46", "original-57"]}]}]
\ No newline at end of file
diff --git a/TrashCan/102244/partnet_mobility/result_original.json b/TrashCan/102244/partnet_mobility/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..cafeb23ccdc40ce8a3f6da073fd1898a49f41be3
--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Trashcan", "text": "Trashcan", "children": [{"id": 1, "name": "opener", "text": "opener", "objs": ["original-28", "original-30", "original-31", "original-32"]}, {"id": 2, "name": "opener", "text": "opener", "objs": ["original-19", "original-23", "original-24", "original-22", "original-20"]}]}]
\ No newline at end of file
diff --git a/TrashCan/102244/partnet_mobility/semantics.txt b/TrashCan/102244/partnet_mobility/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..17acf605a9ceb62aee2dd04d37b14ceaec9652c7
--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge door
+link_1 slider drawer
+link_2 free trashcan_body
diff --git a/TrashCan/102244/partnet_mobility/semantics_gapartnet.txt b/TrashCan/102244/partnet_mobility/semantics_gapartnet.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c4dcc7ae408803ba7bd577d0a711a7a710860436
--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/semantics_gapartnet.txt
@@ -0,0 +1,5 @@
+link_0 hinge door
+link_1 slider drawer
+link_2 free trashcan_body
+link_3 fixed handle
+link_4 fixed handle
diff --git a/TrashCan/102244/partnet_mobility/textured_objs/original-1.obj b/TrashCan/102244/partnet_mobility/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f98822c5a88278daf38aef29cab1272c0cb392a1
--- /dev/null
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diff --git a/TrashCan/102244/partnet_mobility/textured_objs/original-10.obj b/TrashCan/102244/partnet_mobility/textured_objs/original-10.obj
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index 0000000000000000000000000000000000000000..5ddbfe2ea2c014de9fbf3171ab2cc2cf68ee597c
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..f0a9dce09acaac4f46717fbc48ed3cfd65e21181
--- /dev/null
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index 0000000000000000000000000000000000000000..c1a9dbe188018fdff505e6e1cf42c8dcfc7b3c81
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diff --git a/TrashCan/102244/partnet_mobility/textured_objs/original-84.obj.convex.stl b/TrashCan/102244/partnet_mobility/textured_objs/original-84.obj.convex.stl
new file mode 100644
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--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/textured_objs/original-84.obj.convex.stl
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diff --git a/TrashCan/102244/partnet_mobility/textured_objs/original-85.mtl b/TrashCan/102244/partnet_mobility/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/textured_objs/original-85.mtl
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diff --git a/TrashCan/102244/partnet_mobility/textured_objs/original-85.obj b/TrashCan/102244/partnet_mobility/textured_objs/original-85.obj
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index 0000000000000000000000000000000000000000..3c27444374fdbda1450429781f39c4fdbea0b6b0
--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/textured_objs/original-85.obj
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--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/textured_objs/original-86.obj
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diff --git a/TrashCan/102244/partnet_mobility/textured_objs/original-86.obj.convex.stl b/TrashCan/102244/partnet_mobility/textured_objs/original-86.obj.convex.stl
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index 0000000000000000000000000000000000000000..82a3770c6655742d9bbe4e24d4bf6c51623d54af
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--- /dev/null
+++ b/TrashCan/102244/partnet_mobility/textured_objs/original-93.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 93
+mtllib original-93.mtl
+o #ID284
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+v -0.307334 0.248641 -0.272066
+v -0.306704 0.249471 -0.272065
+v -0.307730 0.247677 -0.272067
+v -0.307830 0.247172 -0.272067
+v -0.323166 0.247158 -0.272067
+v -0.323166 0.247158 -0.272067
+v -0.323183 0.268990 -0.272048
+v -0.307830 0.247172 -0.272067
+v -0.307730 0.247677 -0.272067
+v -0.307334 0.248641 -0.272066
+v -0.306704 0.249471 -0.272065
+vn 1.7887228260549672e-7 -0.0008957585509765985 0.9999995988082127
+vn -1.7887228260549672e-7 0.0008957585509765985 -0.9999995988082127
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 4//1 1//1 5//1
+f 5//1 1//1 6//1
+f 7//2 8//2 9//2
+f 9//2 8//2 10//2
+f 10//2 8//2 11//2
+f 12//2 11//2 8//2