diff --git a/.gitattributes b/.gitattributes
index 24eb8ae7269824eab21517f259f258ad8fab3381..ab6657b6a1271fc8db83106cc79f5aa7804c04f1 100644
--- a/.gitattributes
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+        "axis": {
+            "origin": [
+                0.5125540000000001,
+                0.191,
+                -0.23
+            ],
+            "direction": [
+                -1.0,
+                0.0,
+                0.0
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/PartNet/100141/joints.json b/PartNet/100141/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..d62664bb723f60ce1e42215a1034c766173596a2
--- /dev/null
+++ b/PartNet/100141/joints.json
@@ -0,0 +1,12 @@
+{
+    "category": "Box",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/100141/mobility.urdf b/PartNet/100141/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f2c9aab889c8bc0c2153c8cbdc1f4361db795118
--- /dev/null
+++ b/PartNet/100141/mobility.urdf
@@ -0,0 +1,1676 @@
+<?xml version="1.0" ?>
+<robot name="partnet_26f22853a75c23ee103e42d04ec345ab">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5125540000000001 -0.191 0.23"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.5125540000000001 0.191 -0.23"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-1.5707963267948966" upper="1.3962634015954636"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-152.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-132.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-126.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-198.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-188.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-195.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-134.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-192.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-167.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-196.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-199.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-117.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-110.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-153.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-107.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-104.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-149.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-128.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-137.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-106.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-140.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-147.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-109.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-125.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-138.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-156.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-201.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-144.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-120.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-114.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-150.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-168.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-185.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-159.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-170.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-113.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-141.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-178.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
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+<?xml version="1.0" ?>
+<robot name="partnet_802f6cfeb6f41f16a59ff8378a27445f">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
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+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
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+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
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+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
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+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
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+			<geometry>
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+		<visual name="rotation_lid-1">
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+			<geometry>
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+		<visual name="rotation_lid-1">
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+			<geometry>
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+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
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+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
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+		<visual name="rotation_lid-1">
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+			<geometry>
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+		<visual name="rotation_lid-1">
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+			<geometry>
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+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
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+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
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+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
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+		</visual>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
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+		<collision>
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+			<geometry>
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+		<child link="link_3"/>
+		<parent link="base"/>
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+	</link>
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+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<origin xyz="0.41360223348952163 0.2356544280401282 -0.4470550000000002"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
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+		<visual name="base_body-3">
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+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
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+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
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+		<child link="link_2"/>
+		<parent link="base"/>
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+[
+    {
+        "type": "revolute",
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+{
+    "category": "Box",
+    "joints": [
+        "joint_0"
+    ],
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+        "joint_1": [
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+<?xml version="1.0" ?>
+<robot name="partnet_c7a2224b009756cc226245d28c34a910">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-1">
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+			<geometry>
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+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.7214450000000001 -0.30802655745340035 0.22906735067242812"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.7214450000000001 0.30802655745340035 -0.22906735067242812"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.6911503837897545" upper="1.5833626974092563"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<collision>
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+			<geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
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diff --git a/PartNet/100283/joint_info.json b/PartNet/100283/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8384c051a5664fa5fb17603aab2f7731306720b5
--- /dev/null
+++ b/PartNet/100283/joint_info.json
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+[
+    {
+        "type": "revolute",
+        "range": [
+            -0.0,
+            1.5707963267948966
+        ],
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+                -1.0,
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+]
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diff --git a/PartNet/100283/joints.json b/PartNet/100283/joints.json
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--- /dev/null
+++ b/PartNet/100283/joints.json
@@ -0,0 +1,32 @@
+{
+    "category": "WashingMachine",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
+        "joint_5": [],
+        "joint_6": [],
+        "joint_7": [],
+        "joint_8": [],
+        "joint_9": [],
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+        "joint_11": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8",
+            "joint_9",
+            "joint_10"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/100283/mobility.urdf b/PartNet/100283/mobility.urdf
new file mode 100644
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--- /dev/null
+++ b/PartNet/100283/mobility.urdf
@@ -0,0 +1,3097 @@
+<?xml version="1.0" ?>
+<robot name="partnet_0d31000f-e876-4751-876d-efa6a61fa9b2">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.3599005086719992 0 -0.3731304919719703"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.3599005086719992 0 -0.3731304919719703"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.3599005086719992 0 -0.3731304919719703"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.3599005086719992 0 -0.3731304919719703"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3599005086719992 0 -0.3731304919719703"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3599005086719992 0 -0.3731304919719703"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3599005086719992 0 -0.3731304919719703"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3599005086719992 0 -0.3731304919719703"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.3599005086719992 0 0.3731304919719703"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_11"/>
+		<limit lower="-0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="-0.3542036780733284 -0.39688577832783684 0.05753293603676607"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3542036780733284 -0.39688577832783684 0.05753293603676607"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.3542036780733284 0.39688577832783684 -0.05753293603676607"/>
+		<axis xyz="-0.00037048643998581975 -0.143137599586484 -0.9897027282595605"/>
+		<child link="link_1"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="-0.35419985431689943 -0.41903548256741646 0.06217514871659105"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.35419985431689943 -0.41903548256741646 0.06217514871659105"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.35419985431689943 0.41903548256741646 -0.06217514871659105"/>
+		<axis xyz="-0.0003762627441764139 -0.14645877669005733 -0.9892167028294656"/>
+		<child link="link_2"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.002"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
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diff --git a/PartNet/100309/joints.json b/PartNet/100309/joints.json
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--- /dev/null
+++ b/PartNet/100309/joints.json
@@ -0,0 +1,16 @@
+{
+    "category": "Lighter",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [
+            "joint_0",
+            "joint_1",
+            "joint_2"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/100309/mobility.urdf b/PartNet/100309/mobility.urdf
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--- /dev/null
+++ b/PartNet/100309/mobility.urdf
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+<?xml version="1.0" ?>
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+            -0.7916813487046278,
+            2.3387411976724017
+        ],
+        "axis": {
+            "origin": [
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+                0.12672222778465547,
+                0.37922303561107246
+            ],
+            "direction": [
+                0.7068126851577318,
+                -0.00013799585894001614,
+                -5.568250274479295e-05
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/PartNet/100310/joints.json b/PartNet/100310/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f556e466f9eb1b0283df71f8e783848b1c36aef
--- /dev/null
+++ b/PartNet/100310/joints.json
@@ -0,0 +1,14 @@
+{
+    "category": "Lighter",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [
+            "joint_0",
+            "joint_1"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/100310/mobility.urdf b/PartNet/100310/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2e7b77cbdf1cb3aa5005bb65784c52fd5b756625
--- /dev/null
+++ b/PartNet/100310/mobility.urdf
@@ -0,0 +1,304 @@
+<?xml version="1.0" ?>
+<robot name="partnet_47c0184e14ba995bd02af02d1e7cd210">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="-0.06268864115055918 -0.12672222778465547 -0.37922303561107246"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.06268864115055918 -0.12672222778465547 -0.37922303561107246"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.06268864115055918 0.12672222778465547 0.37922303561107246"/>
+		<axis xyz="0.7068126851577318 -0.00013799585894001614 -5.568250274479295e-05"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="-0.7916813487046278" upper="2.3387411976724017"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-2">
+			<origin xyz="-8.04614790353458e-05 -0.3848189052221549 0.3215758806025849"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-8.04614790353458e-05 -0.3848189052221549 0.3215758806025849"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="8.04614790353458e-05 0.3848189052221549 -0.3215758806025849"/>
+		<axis xyz="0.9999999594580633 -0.00027396487949252657 -7.763450728539053e-05"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.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-26.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-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-5.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-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.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-24.obj"/>
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+		</collision>
+		<collision>
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+			<geometry>
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+			</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-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.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>
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+{
+    "category": "Lighter",
+    "joints": [
+        "joint_1"
+    ],
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+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [
+            "joint_0",
+            "joint_1"
+        ]
+    }
+}
\ No newline at end of file
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--- /dev/null
+++ b/PartNet/100311/mobility.urdf
@@ -0,0 +1,245 @@
+<?xml version="1.0" ?>
+<robot name="partnet_4a30871f64a2fcd5eb69804478f9c547">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="button-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.10000000000000009"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lid-2">
+			<origin xyz="0 -0.11395 -0.19459200000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 -0.11395 -0.19459200000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 -0.11395 -0.19459200000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 -0.11395 -0.19459200000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 -0.11395 -0.19459200000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 -0.11395 -0.19459200000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.11395 -0.19459200000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.11395 -0.19459200000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.11395 -0.19459200000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.11395 -0.19459200000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.11395 -0.19459200000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.11395 -0.19459200000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0 0.11395 0.19459200000000001"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-1.6210618092523332" upper="-0.0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.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-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-18.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-7.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-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.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>
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diff --git a/PartNet/100317/gt_mesh/04.glb b/PartNet/100317/gt_mesh/04.glb
new file mode 100644
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diff --git a/PartNet/100317/gt_mesh/05.glb b/PartNet/100317/gt_mesh/05.glb
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/PartNet/100317/joint_info.json b/PartNet/100317/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..02c6ce1929b34338b9f4cf4858e4be9b8ebb8f65
--- /dev/null
+++ b/PartNet/100317/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            -0.5235987755982988,
+            2.443460952792061
+        ],
+        "axis": {
+            "origin": [
+                0.0,
+                0.10520850000000001,
+                0.4241051616012345
+            ],
+            "direction": [
+                1.0,
+                0.0,
+                0.0
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/PartNet/100317/joints.json b/PartNet/100317/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f556e466f9eb1b0283df71f8e783848b1c36aef
--- /dev/null
+++ b/PartNet/100317/joints.json
@@ -0,0 +1,14 @@
+{
+    "category": "Lighter",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [
+            "joint_0",
+            "joint_1"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/100317/mobility.urdf b/PartNet/100317/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fed669216461b420f4cd18d89e25930313daab2b
--- /dev/null
+++ b/PartNet/100317/mobility.urdf
@@ -0,0 +1,1324 @@
+<?xml version="1.0" ?>
+<robot name="partnet_6b50aec4-85ed-4022-8388-a1c49541799f">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 -0.10520850000000001 -0.4241051616012345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 -0.10520850000000001 -0.4241051616012345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 -0.10520850000000001 -0.4241051616012345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 -0.10520850000000001 -0.4241051616012345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 -0.10520850000000001 -0.4241051616012345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 -0.10520850000000001 -0.4241051616012345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1">
+			<origin xyz="0 -0.10520850000000001 -0.4241051616012345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.10520850000000001 -0.4241051616012345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.10520850000000001 -0.4241051616012345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.10520850000000001 -0.4241051616012345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.10520850000000001 -0.4241051616012345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.10520850000000001 -0.4241051616012345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.10520850000000001 -0.4241051616012345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
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+    "joints": [
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+<robot name="partnet_75a96dbe55e4ed3738990fc2112cb35a">
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+		<visual name="lid-1">
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+			<geometry>
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+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.20236699999999996 0.2724234319806841 0.12238563328688659"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="-2.4085543677521746" upper="-0.0"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-2">
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+			<geometry>
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+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-1 0 0"/>
+		<child link="link_1"/>
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+		<visual name="base_body-3">
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--- /dev/null
+++ b/PartNet/100321/joint_info.json
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index 0000000000000000000000000000000000000000..42068d463075cc9ee98ef8780a58ede2d8bb0250
--- /dev/null
+++ b/PartNet/100321/joints.json
@@ -0,0 +1,16 @@
+{
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+    "joints": [
+        "joint_0"
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+    "descendants": {
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+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [
+            "joint_0",
+            "joint_1",
+            "joint_2"
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+}
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--- /dev/null
+++ b/PartNet/100321/mobility.urdf
@@ -0,0 +1,1921 @@
+<?xml version="1.0" ?>
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+			<geometry>
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+	</link>
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+		<child link="link_2"/>
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+++ b/PartNet/100664/mobility.urdf
@@ -0,0 +1,44 @@
+<?xml version="1.0" ?>
+<robot name="partnet_dbac3b858ce8b14483e99a083b61b6a3">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.6091959999999998 -0.2159913714805891 0.1393929269641485"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.6091959999999998 0.2159913714805891 -0.1393929269641485"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-1.8849555921538759" upper="1.300619358586174"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
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--- /dev/null
+++ b/PartNet/100671/joint_info.json
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+[
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diff --git a/PartNet/100671/joints.json b/PartNet/100671/joints.json
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--- /dev/null
+++ b/PartNet/100671/joints.json
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+{
+    "category": "Box",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
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+        "joint_1": [
+            "joint_0"
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+}
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new file mode 100644
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--- /dev/null
+++ b/PartNet/100671/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_ec82368d9dd6c6191503e17202cee2a3">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-1">
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+			<geometry>
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+{
+    "category": "Laptop",
+    "joints": [
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [
+            "joint_1"
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+}
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-12">
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+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_frame-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
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+			<geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
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+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
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+		<child link="link_0"/>
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new file mode 100644
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--- /dev/null
+++ b/PartNet/101363/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            0.0,
+            3.141592653589793
+        ],
+        "axis": {
+            "origin": [
+                -0.4585415,
+                0.0,
+                0.5808095
+            ],
+            "direction": [
+                0.0,
+                -1.0,
+                0.0
+            ]
+        }
+    }
+]
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+++ b/PartNet/101363/joints.json
@@ -0,0 +1,16 @@
+{
+    "category": "Safe",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [
+            "joint_1"
+        ],
+        "joint_1": [],
+        "joint_2": [
+            "joint_0",
+            "joint_1"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/101363/mobility.urdf b/PartNet/101363/mobility.urdf
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--- /dev/null
+++ b/PartNet/101363/mobility.urdf
@@ -0,0 +1,112 @@
+<?xml version="1.0" ?>
+<robot name="partnet_019dff2f-8207-4ddf-8255-871060cd4bf6">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.4585415 0 -0.5808095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.4585415 0 -0.5808095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.4585415 0 -0.5808095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4585415 0 -0.5808095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4585415 0 -0.5808095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4585415 0 -0.5808095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.4585415 0 0.5808095"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-5">
+			<origin xyz="-0.3103190281377981 -0.048701999999999995 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3103190281377981 -0.048701999999999995 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.768860528137798 0.048701999999999995 -0.5808095"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<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-1.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>
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diff --git a/PartNet/101564/joint_info.json b/PartNet/101564/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c594216600e4bda137f0733c11d3617c0be5ad2
--- /dev/null
+++ b/PartNet/101564/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            0.0,
+            2.9670597283903604
+        ],
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\ No newline at end of file
diff --git a/PartNet/101564/joints.json b/PartNet/101564/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..903ec9342c743d92ff4fb39983b19b664e3f9030
--- /dev/null
+++ b/PartNet/101564/joints.json
@@ -0,0 +1,49 @@
+{
+    "category": "Safe",
+    "joints": [
+        "joint_13"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
+        "joint_5": [],
+        "joint_6": [],
+        "joint_7": [],
+        "joint_8": [],
+        "joint_9": [],
+        "joint_10": [],
+        "joint_11": [],
+        "joint_12": [
+            "joint_13",
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8",
+            "joint_9",
+            "joint_10",
+            "joint_11"
+        ],
+        "joint_13": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8",
+            "joint_9",
+            "joint_10",
+            "joint_11"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/101564/mobility.urdf b/PartNet/101564/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..36fc2258aa7ce27fb1f469aed8471ca40b9835ed
--- /dev/null
+++ b/PartNet/101564/mobility.urdf
@@ -0,0 +1,392 @@
+<?xml version="1.0" ?>
+<robot name="partnet_117711079f903de35c90c1d7bd498fbb">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="button-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="-0.53 -0.656388 -0.59"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.53 -0.656388 -0.59"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.53 -0.656388 -0.59"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.53 -0.656388 -0.59"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_3"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="-0.53 -0.656388 -0.59"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_4"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="-0.53 -0.656388 -0.59"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_5"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-11">
+			<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-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="-0.53 -0.656388 -0.59"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_6"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_7">
+		<visual name="button-12">
+			<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-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="-0.53 -0.656388 -0.59"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_7"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_8">
+		<visual name="button-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="prismatic">
+		<origin xyz="-0.53 -0.656388 -0.59"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_8"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_9">
+		<visual name="button-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="prismatic">
+		<origin xyz="-0.53 -0.656388 -0.59"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_9"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_10">
+		<visual name="button-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="prismatic">
+		<origin xyz="-0.53 -0.656388 -0.59"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_10"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_11">
+		<visual name="button-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="prismatic">
+		<origin xyz="-0.53 -0.656388 -0.59"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_11"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_12">
+		<visual name="base_body-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<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-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.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-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_12"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_13">
+		<visual name="door-4">
+			<origin xyz="-0.53 -0.656388 -0.59"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-4">
+			<origin xyz="-0.53 -0.656388 -0.59"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-19">
+			<origin xyz="-0.53 -0.656388 -0.59"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-19">
+			<origin xyz="-0.53 -0.656388 -0.59"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.53 -0.656388 -0.59"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.53 -0.656388 -0.59"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.53 -0.656388 -0.59"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.53 -0.656388 -0.59"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="revolute">
+		<origin xyz="0.53 0.656388 0.59"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_13"/>
+		<parent link="link_12"/>
+		<limit lower="0.0" upper="2.9670597283903604"/>
+	</joint>
+</robot>
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diff --git a/PartNet/101584/joint_info.json b/PartNet/101584/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..feea11286550106ad63e43d6728ea4027a750954
--- /dev/null
+++ b/PartNet/101584/joint_info.json
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+[
+    {
+        "type": "revolute",
+        "range": [
+            0.0,
+            2.9670597283903604
+        ],
+        "axis": {
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+            "direction": [
+                0.0,
+                1.0,
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+        }
+    }
+]
\ No newline at end of file
diff --git a/PartNet/101584/joints.json b/PartNet/101584/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..288539ca1db1a674023d21d61a444c9c9eaf6889
--- /dev/null
+++ b/PartNet/101584/joints.json
@@ -0,0 +1,19 @@
+{
+    "category": "Safe",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [
+            "joint_1",
+            "joint_2"
+        ],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [
+            "joint_0",
+            "joint_1",
+            "joint_2"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/101584/mobility.urdf b/PartNet/101584/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..389248994d46d72f7961dc920e660c72f190a0c4
--- /dev/null
+++ b/PartNet/101584/mobility.urdf
@@ -0,0 +1,768 @@
+<?xml version="1.0" ?>
+<robot name="partnet_3aed91ee-bf51-4e26-b361-9db03adfd97f">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-6">
+			<origin xyz="-0.30710969062590626 0 -0.40085632200420246"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-6">
+			<origin xyz="-0.30710969062590626 0 -0.40085632200420246"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
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+[
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+{
+    "category": "Safe",
+    "joints": [
+        "joint_0"
+    ],
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+        "joint_0": [
+            "joint_1",
+            "joint_2"
+        ],
+        "joint_1": [],
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+        "joint_3": [
+            "joint_0",
+            "joint_1",
+            "joint_2"
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+<robot name="partnet_52d8d0a55b5b593188fb7d9c2bb964c5">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
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+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
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+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3819643254870551 -0.5491551062331053 -0.5493668750839127"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.3819643254870551 0.5491551062331053 0.5493668750839127"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="0.0" upper="2.9670597283903604"/>
+	</joint>
+	<link name="link_1">
+		<visual name="switch-2">
+			<origin xyz="0.249 -0.032 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.249 -0.032 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.6309643254870552 -0.5171551062331052 -0.5493668750839127"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="switch-5">
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+			<geometry>
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+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2152496364785898 -0.031595799634695707 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.1667146890084653 -0.5175593065984095 -0.5493668750839127"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_3">
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
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+				<mesh filename="textured_objs/original-1.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
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+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
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+		<collision>
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+				<mesh filename="textured_objs/original-2.obj"/>
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+				<mesh filename="textured_objs/original-8.obj"/>
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+		</collision>
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+			<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-5.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-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
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diff --git a/PartNet/101599/joint_info.json b/PartNet/101599/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6ff2d13751433693c6cc45f6ab3b938f87a7b4f
--- /dev/null
+++ b/PartNet/101599/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            0.0,
+            2.775073510670984
+        ],
+        "axis": {
+            "origin": [
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+            "direction": [
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+                1.0,
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+        }
+    }
+]
\ No newline at end of file
diff --git a/PartNet/101599/joints.json b/PartNet/101599/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c2635363a8916a59ddebd502ce6a8330c08eb02
--- /dev/null
+++ b/PartNet/101599/joints.json
@@ -0,0 +1,52 @@
+{
+    "category": "Safe",
+    "joints": [
+        "joint_14"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
+        "joint_5": [],
+        "joint_6": [],
+        "joint_7": [],
+        "joint_8": [],
+        "joint_9": [],
+        "joint_10": [],
+        "joint_11": [],
+        "joint_12": [],
+        "joint_13": [
+            "joint_14",
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8",
+            "joint_9",
+            "joint_10",
+            "joint_11",
+            "joint_12"
+        ],
+        "joint_14": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8",
+            "joint_9",
+            "joint_10",
+            "joint_11",
+            "joint_12"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/101599/mobility.urdf b/PartNet/101599/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f6ce162d3f6818b566f23ab3b05eb6d6de538ca
--- /dev/null
+++ b/PartNet/101599/mobility.urdf
@@ -0,0 +1,532 @@
+<?xml version="1.0" ?>
+<robot name="partnet_606d5a67d35faac229024035009201d2">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-2">
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-2">
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.19505791627619393 0.18135076848975443 -0.770878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.5837231127453767 -0.7174967684897542 0.06740894145399501"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-3">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-4">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-5">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_3"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-6">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_4"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-7">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_5"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-8">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_6"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
+	<link name="link_7">
+		<visual name="button-9">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_7"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
+	</joint>
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+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
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+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
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+	</link>
+	<joint name="joint_8" type="prismatic">
+		<origin xyz="-0.3069666712810075 -0.43158215786361365 0.069647941453995"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_8"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
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+		<visual name="button-11">
+			<origin xyz="-0.08169852518817525 -0.10456384213638614 -0.7731169999999999"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
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+		<axis xyz="0 0 -1"/>
+		<child link="link_9"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.0004"/>
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+				<mesh filename="textured_objs/original-24.obj"/>
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+			</geometry>
+		</collision>
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+			</geometry>
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+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="base_body-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
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+		<child link="link_13"/>
+		<parent link="base"/>
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index 0000000000000000000000000000000000000000..9af4c6a6c11324b37b87845354b5f96ccc3baad8
--- /dev/null
+++ b/PartNet/101604/joints.json
@@ -0,0 +1,52 @@
+{
+    "category": "Safe",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8",
+            "joint_9",
+            "joint_10",
+            "joint_11",
+            "joint_12",
+            "joint_13"
+        ],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
+        "joint_5": [],
+        "joint_6": [],
+        "joint_7": [],
+        "joint_8": [],
+        "joint_9": [],
+        "joint_10": [],
+        "joint_11": [],
+        "joint_12": [],
+        "joint_13": [],
+        "joint_14": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8",
+            "joint_9",
+            "joint_10",
+            "joint_11",
+            "joint_12",
+            "joint_13"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/101604/mobility.urdf b/PartNet/101604/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..23aa1620cc1ff400bf66eca17168a29954e87745
--- /dev/null
+++ b/PartNet/101604/mobility.urdf
@@ -0,0 +1,8285 @@
+<?xml version="1.0" ?>
+<robot name="partnet_783fa82cb46fb3244e91947b208587c6">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="-0.546737 0.011337128063737545 -0.18390300000000026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-860.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.546737 0.011337128063737545 -0.18390300000000026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-866.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.546737 0.011337128063737545 -0.18390300000000026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-861.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.546737 0.011337128063737545 -0.18390300000000026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-865.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.546737 0.011337128063737545 -0.18390300000000026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-854.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.546737 0.011337128063737545 -0.18390300000000026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-869.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.546737 0.011337128063737545 -0.18390300000000026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-860.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.546737 0.011337128063737545 -0.18390300000000026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-866.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.546737 0.011337128063737545 -0.18390300000000026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-861.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.546737 0.011337128063737545 -0.18390300000000026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-865.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.546737 0.011337128063737545 -0.18390300000000026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-854.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.546737 0.011337128063737545 -0.18390300000000026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-869.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.546737 -0.011337128063737545 0.18390300000000026"/>
+		<axis xyz="0 0.499993918063721 0"/>
+		<child link="link_0"/>
+		<parent link="link_14"/>
+		<limit lower="-0.5235987755982988" upper="2.2689280275926285"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-2">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-852.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-852.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.24256441150953 0.024278488288965373 0.26806810418371996"/>
+		<axis xyz="-0.4999993215751344 3.328099300412271e-05 -0.8660257948333762"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-855.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-3">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-855.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.24256441150953 0.024278488288965373 0.26806810418371996"/>
+		<axis xyz="-0.4999993215751344 3.328099300412271e-05 -0.8660257948333762"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-864.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-4">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-864.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.24256441150953 0.024278488288965373 0.26806810418371996"/>
+		<axis xyz="-0.4999993215751344 3.328099300412271e-05 -0.8660257948333762"/>
+		<child link="link_3"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-5">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-863.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-5">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-863.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="-0.24256441150953 0.024278488288965373 0.26806810418371996"/>
+		<axis xyz="-0.4999993215751344 3.328099300412271e-05 -0.8660257948333762"/>
+		<child link="link_4"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-6">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-851.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-851.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="-0.24256441150953 0.024278488288965373 0.26806810418371996"/>
+		<axis xyz="-0.4999993215751344 3.328099300412271e-05 -0.8660257948333762"/>
+		<child link="link_5"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-7">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-7">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-862.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-862.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="-0.24256441150953 0.024278488288965373 0.26806810418371996"/>
+		<axis xyz="-0.4999993215751344 3.328099300412271e-05 -0.8660257948333762"/>
+		<child link="link_6"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_7">
+		<visual name="button-8">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-853.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-8">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-853.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="-0.24256441150953 0.024278488288965373 0.26806810418371996"/>
+		<axis xyz="-0.4999993215751344 3.328099300412271e-05 -0.8660257948333762"/>
+		<child link="link_7"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_8">
+		<visual name="button-9">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-856.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-9">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-856.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="prismatic">
+		<origin xyz="-0.24256441150953 0.024278488288965373 0.26806810418371996"/>
+		<axis xyz="-0.4999993215751344 3.328099300412271e-05 -0.8660257948333762"/>
+		<child link="link_8"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_9">
+		<visual name="button-10">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-10">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-867.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-867.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="prismatic">
+		<origin xyz="-0.24256441150953 0.024278488288965373 0.26806810418371996"/>
+		<axis xyz="-0.4999993215751344 3.328099300412271e-05 -0.8660257948333762"/>
+		<child link="link_9"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_10">
+		<visual name="button-11">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-11">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-857.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-857.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="prismatic">
+		<origin xyz="-0.24256441150953 0.024278488288965373 0.26806810418371996"/>
+		<axis xyz="-0.4999993215751344 3.328099300412271e-05 -0.8660257948333762"/>
+		<child link="link_10"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_11">
+		<visual name="button-12">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-12">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-858.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-12">
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-858.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30417258849047 -0.012941360225227828 -0.4519711041837202"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="prismatic">
+		<origin xyz="-0.24256441150953 0.024278488288965373 0.26806810418371996"/>
+		<axis xyz="-0.4999993215751344 3.328099300412271e-05 -0.8660257948333762"/>
+		<child link="link_11"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_12">
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--- /dev/null
+++ b/PartNet/101619/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            -0.5152211951887261,
+            2.5949555318651694
+        ],
+        "axis": {
+            "origin": [
+                0.36400595678338493,
+                0.648501,
+                0.212485359986955
+            ],
+            "direction": [
+                0.0,
+                1.0,
+                0.0
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/PartNet/101619/joints.json b/PartNet/101619/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdb61905319a69b550a539e515d5cb8d780f70f4
--- /dev/null
+++ b/PartNet/101619/joints.json
@@ -0,0 +1,19 @@
+{
+    "category": "Safe",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [
+            "joint_1",
+            "joint_3"
+        ],
+        "joint_1": [],
+        "joint_2": [
+            "joint_0",
+            "joint_1",
+            "joint_3"
+        ],
+        "joint_3": []
+    }
+}
\ No newline at end of file
diff --git a/PartNet/101619/mobility.urdf b/PartNet/101619/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1e1b0c12493a058f64c17eef08ea920af201fbad
--- /dev/null
+++ b/PartNet/101619/mobility.urdf
@@ -0,0 +1,492 @@
+<?xml version="1.0" ?>
+<robot name="partnet_a805e6a1651b06aaeb69804478f9c547">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.36400595678338493 -0.648501 -0.212485359986955"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.36400595678338493 0.648501 0.212485359986955"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="-0.5152211951887261" upper="2.5949555318651694"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-5">
+			<origin xyz="-0.08313694413442765 -0.11743864096306886 -0.4204186448753276"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-5">
+			<origin xyz="-0.08313694413442765 -0.11743864096306886 -0.4204186448753276"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08313694413442765 -0.11743864096306886 -0.4204186448753276"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.08313694413442765 -0.11743864096306886 -0.4204186448753276"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.28086901264895725 -0.5310623590369311 0.2079332848883726"/>
+		<axis xyz="0.4999947735612932 2.942941588187545e-05 0.8660284207491696"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.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-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.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-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.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-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.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-46.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="switch-6">
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="switch-6">
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-7">
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-8">
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-8">
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-8">
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-8">
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-8">
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-8">
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-8">
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-8">
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
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+		</visual>
+		<visual name="outlier-8">
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
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+		</visual>
+		<visual name="outlier-8">
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
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+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
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+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.11887426709008031 -0.3592191186084054 -0.06864868929159593"/>
+			<geometry>
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+			<geometry>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.48288022387346524 -0.2892818813915946 -0.14383667069535908"/>
+		<axis xyz="-0.5000030207161373 3.867898438007658e-05 -0.866023658902385"/>
+		<child link="link_3"/>
+		<parent link="link_0"/>
+	</joint>
+</robot>
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+{
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+    "joints": [
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+    ],
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+        "joint_1": [],
+        "joint_2": [],
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diff --git a/PartNet/101773/mobility.urdf b/PartNet/101773/mobility.urdf
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+<robot name="partnet_3ea1ace396f6ccae48407a54b1fbfda8">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
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+		</visual>
+		<visual name="door-1">
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+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
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+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
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+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.58423 0.6423879359070063 -0.5040723291093724"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.58423 0.6423879359070063 -0.5040723291093724"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
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+version https://git-lfs.github.com/spec/v1
+oid sha256:6be192771e44c51c4d0512a97855ad788f8e3d6ab3ea4e431a1c53aaa5d2a8ae
+size 1920700
diff --git a/PartNet/101808/gt_mesh/04.glb b/PartNet/101808/gt_mesh/04.glb
new file mode 100644
index 0000000000000000000000000000000000000000..48beb81c83c54d932406b78d7ce1c499e95474f2
--- /dev/null
+++ b/PartNet/101808/gt_mesh/04.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f270ea099f62d62e1dd5c90fd077d480bc98024d918d87eaecc38abf813076d
+size 1920844
diff --git a/PartNet/101808/gt_mesh/05.glb b/PartNet/101808/gt_mesh/05.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fc52365b401cae732ce50bfd40bd911b5c047e04
--- /dev/null
+++ b/PartNet/101808/gt_mesh/05.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e71ae6235dc796e0f621be6f01f0bb3d445a4dea7a82b53a8498a5a7083e45b3
+size 1920840
diff --git a/PartNet/101808/joint_info.json b/PartNet/101808/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4223f32cce97564b5429b2673576d06df99de8d
--- /dev/null
+++ b/PartNet/101808/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            0.0,
+            1.5707963267948966
+        ],
+        "axis": {
+            "origin": [
+                -0.4281465047314254,
+                -0.5719901858661538,
+                0.4677611856582847
+            ],
+            "direction": [
+                0.9978013971995803,
+                0.0,
+                0.06627497073983131
+            ]
+        }
+    }
+]
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diff --git a/PartNet/101808/joints.json b/PartNet/101808/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..67b279ec0c79f4f692c6030ae4986cc9c5860bdd
--- /dev/null
+++ b/PartNet/101808/joints.json
@@ -0,0 +1,29 @@
+{
+    "category": "Oven",
+    "joints": [
+        "joint_0",
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
+        "joint_5": [],
+        "joint_6": [],
+        "joint_7": [],
+        "joint_8": [],
+        "joint_9": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/101808/mobility.urdf b/PartNet/101808/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e59f823abd7663b9b71900e752873e719e0c1ccb
--- /dev/null
+++ b/PartNet/101808/mobility.urdf
@@ -0,0 +1,1772 @@
+<?xml version="1.0" ?>
+<robot name="partnet_47c68395a5775e10d9deb3f829cc2475">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.4281465047314254 0.5719901858661538 -0.4677611856582847"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.4281465047314254 0.5719901858661538 -0.4677611856582847"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.4281465047314254 0.5719901858661538 -0.4677611856582847"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.4281465047314254 0.5719901858661538 -0.4677611856582847"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4281465047314254 0.5719901858661538 -0.4677611856582847"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4281465047314254 0.5719901858661538 -0.4677611856582847"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4281465047314254 0.5719901858661538 -0.4677611856582847"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4281465047314254 0.5719901858661538 -0.4677611856582847"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.4281465047314254 -0.5719901858661538 0.4677611856582847"/>
+		<axis xyz="0.9978013971995803 0.0 0.06627497073983131"/>
+		<child link="link_0"/>
+		<parent link="link_9"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door-2">
+			<origin xyz="0.4336921858655555 -0.15593220728466706 -0.468144158905138"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0.4336921858655555 -0.15593220728466706 -0.468144158905138"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0.4336921858655555 -0.15593220728466706 -0.468144158905138"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0.4336921858655555 -0.15593220728466706 -0.468144158905138"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4336921858655555 -0.15593220728466706 -0.468144158905138"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4336921858655555 -0.15593220728466706 -0.468144158905138"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4336921858655555 -0.15593220728466706 -0.468144158905138"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4336921858655555 -0.15593220728466706 -0.468144158905138"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.4336921858655555 0.15593220728466706 0.468144158905138"/>
+		<axis xyz="0.9978013971995803 0.0 0.06627497073983166"/>
+		<child link="link_1"/>
+		<parent link="link_9"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_2">
+		<visual name="knob-3">
+			<origin xyz="-0.3666701057131047 -0.6428384801611329 -0.024320726974939557"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-3">
+			<origin xyz="-0.3666701057131047 -0.6428384801611329 -0.024320726974939557"/>
+			<geometry>
+				<mesh filename="textured_objs/original-140.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-3">
+			<origin xyz="-0.3666701057131047 -0.6428384801611329 -0.024320726974939557"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-3">
+			<origin xyz="-0.3666701057131047 -0.6428384801611329 -0.024320726974939557"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3666701057131047 -0.6428384801611329 -0.024320726974939557"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3666701057131047 -0.6428384801611329 -0.024320726974939557"/>
+			<geometry>
+				<mesh filename="textured_objs/original-140.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3666701057131047 -0.6428384801611329 -0.024320726974939557"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3666701057131047 -0.6428384801611329 -0.024320726974939557"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="0.3666701057131047 0.6428384801611329 0.024320726974939557"/>
+		<axis xyz="-0.06616431685170301 -1.0823880716471467e-05 0.9978087407205809"/>
+		<child link="link_2"/>
+		<parent link="link_9"/>
+		<limit lower="-0.0" upper="5.759586531581287"/>
+	</joint>
+	<link name="link_3">
+		<visual name="knob-4">
+			<origin xyz="-0.2582035684632654 -0.6428179468991603 -0.017145086458529978"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-4">
+			<origin xyz="-0.2582035684632654 -0.6428179468991603 -0.017145086458529978"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-4">
+			<origin xyz="-0.2582035684632654 -0.6428179468991603 -0.017145086458529978"/>
+			<geometry>
+				<mesh filename="textured_objs/original-129.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2582035684632654 -0.6428179468991603 -0.017145086458529978"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2582035684632654 -0.6428179468991603 -0.017145086458529978"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2582035684632654 -0.6428179468991603 -0.017145086458529978"/>
+			<geometry>
+				<mesh filename="textured_objs/original-129.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="revolute">
+		<origin xyz="0.2582035684632654 0.6428179468991603 0.017145086458529978"/>
+		<axis xyz="-0.06633209269933098 3.0890870804835796e-05 0.9977976009812219"/>
+		<child link="link_3"/>
+		<parent link="link_9"/>
+		<limit lower="-0.0" upper="5.759586531581287"/>
+	</joint>
+	<link name="link_4">
+		<visual name="knob-5">
+			<origin xyz="-0.14977229147865534 -0.6428279436445825 -0.00998598602767333"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-5">
+			<origin xyz="-0.14977229147865534 -0.6428279436445825 -0.00998598602767333"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-5">
+			<origin xyz="-0.14977229147865534 -0.6428279436445825 -0.00998598602767333"/>
+			<geometry>
+				<mesh filename="textured_objs/original-125.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.14977229147865534 -0.6428279436445825 -0.00998598602767333"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14977229147865534 -0.6428279436445825 -0.00998598602767333"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.14977229147865534 -0.6428279436445825 -0.00998598602767333"/>
+			<geometry>
+				<mesh filename="textured_objs/original-125.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="revolute">
+		<origin xyz="0.14977229147865534 0.6428279436445825 0.00998598602767333"/>
+		<axis xyz="-0.06657184915123522 1.0554231659352238e-05 0.9977816338203432"/>
+		<child link="link_4"/>
+		<parent link="link_9"/>
+		<limit lower="-0.0" upper="5.759586531581287"/>
+	</joint>
+	<link name="link_5">
+		<visual name="knob-6">
+			<origin xyz="-0.04138397422716416 -0.6433456026355645 -0.002754114312966408"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-6">
+			<origin xyz="-0.04138397422716416 -0.6433456026355645 -0.002754114312966408"/>
+			<geometry>
+				<mesh filename="textured_objs/original-124.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-6">
+			<origin xyz="-0.04138397422716416 -0.6433456026355645 -0.002754114312966408"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.04138397422716416 -0.6433456026355645 -0.002754114312966408"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.04138397422716416 -0.6433456026355645 -0.002754114312966408"/>
+			<geometry>
+				<mesh filename="textured_objs/original-124.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.04138397422716416 -0.6433456026355645 -0.002754114312966408"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="revolute">
+		<origin xyz="0.04138397422716416 0.6433456026355645 0.002754114312966408"/>
+		<axis xyz="-0.0663526444959829 -3.2779089080370087e-06 0.9977962349887101"/>
+		<child link="link_5"/>
+		<parent link="link_9"/>
+		<limit lower="-0.0" upper="5.759586531581287"/>
+	</joint>
+	<link name="link_6">
+		<visual name="knob-7">
+			<origin xyz="0.06744595961120593 -0.6428459993383334 0.004466793224164564"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-7">
+			<origin xyz="0.06744595961120593 -0.6428459993383334 0.004466793224164564"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-7">
+			<origin xyz="0.06744595961120593 -0.6428459993383334 0.004466793224164564"/>
+			<geometry>
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+		</visual>
+		<collision>
+			<origin xyz="0.06744595961120593 -0.6428459993383334 0.004466793224164564"/>
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+		<collision>
+			<origin xyz="0.06744595961120593 -0.6428459993383334 0.004466793224164564"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
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+		</collision>
+		<collision>
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+		</collision>
+	</link>
+	<joint name="joint_6" type="revolute">
+		<origin xyz="-0.06744595961120593 0.6428459993383334 -0.004466793224164564"/>
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+		<parent link="link_9"/>
+		<limit lower="-0.0" upper="5.759586531581287"/>
+	</joint>
+	<link name="link_7">
+		<visual name="knob-8">
+			<origin xyz="0.17609087365187812 -0.6428119150166791 0.011698414754721508"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
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+		</visual>
+		<visual name="knob-8">
+			<origin xyz="0.17609087365187812 -0.6428119150166791 0.011698414754721508"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
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+		</visual>
+		<visual name="knob-8">
+			<origin xyz="0.17609087365187812 -0.6428119150166791 0.011698414754721508"/>
+			<geometry>
+				<mesh filename="textured_objs/original-118.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.17609087365187812 -0.6428119150166791 0.011698414754721508"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.17609087365187812 -0.6428119150166791 0.011698414754721508"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.17609087365187812 -0.6428119150166791 0.011698414754721508"/>
+			<geometry>
+				<mesh filename="textured_objs/original-118.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="revolute">
+		<origin xyz="-0.17609087365187812 0.6428119150166791 -0.011698414754721508"/>
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+		<child link="link_7"/>
+		<parent link="link_9"/>
+		<limit lower="-0.0" upper="5.759586531581287"/>
+	</joint>
+	<link name="link_8">
+		<visual name="knob-9">
+			<origin xyz="0.33902694142962475 -0.6428318429255713 0.02240060328065199"/>
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+				<mesh filename="textured_objs/original-67.obj"/>
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+		<visual name="knob-9">
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+++ b/PartNet/101917/gt_mesh/05.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33e550f4f9b1ddd811795276d0c5468d817154928378e74455baa331d7dd41fb
+size 13393772
diff --git a/PartNet/101917/joint_info.json b/PartNet/101917/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e123859bca5191d52b24f97825f4359088cc6f04
--- /dev/null
+++ b/PartNet/101917/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            0.0,
+            1.5707963267948966
+        ],
+        "axis": {
+            "origin": [
+                -0.6382359999999996,
+                -0.442321324292263,
+                0.41942801523467216
+            ],
+            "direction": [
+                1.0,
+                0.0,
+                0.0
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/PartNet/101917/joints.json b/PartNet/101917/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..06708e8c40e300b773aef02d6ada2a1c6fc2352b
--- /dev/null
+++ b/PartNet/101917/joints.json
@@ -0,0 +1,26 @@
+{
+    "category": "Oven",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
+        "joint_5": [],
+        "joint_6": [],
+        "joint_7": [],
+        "joint_8": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/101917/mobility.urdf b/PartNet/101917/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e02205d1258bad51df8315f4899dbd8e795264c2
--- /dev/null
+++ b/PartNet/101917/mobility.urdf
@@ -0,0 +1,1276 @@
+<?xml version="1.0" ?>
+<robot name="partnet_8c2491e5245804d1ffc6e457221b9271">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.6382359999999996 0.442321324292263 -0.41942801523467216"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.6382359999999996 0.442321324292263 -0.41942801523467216"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.6382359999999996 0.442321324292263 -0.41942801523467216"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.6382359999999996 0.442321324292263 -0.41942801523467216"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.6382359999999996 0.442321324292263 -0.41942801523467216"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6382359999999996 0.442321324292263 -0.41942801523467216"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6382359999999996 0.442321324292263 -0.41942801523467216"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6382359999999996 0.442321324292263 -0.41942801523467216"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.6382359999999996 -0.442321324292263 0.41942801523467216"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_8"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="knob-2">
+			<origin xyz="-0.5279359630874578 -0.4083835309958324 0.0004391043249808836"/>
+			<geometry>
+				<mesh filename="textured_objs/original-112.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-2">
+			<origin xyz="-0.5279359630874578 -0.4083835309958324 0.0004391043249808836"/>
+			<geometry>
+				<mesh filename="textured_objs/original-111.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5279359630874578 -0.4083835309958324 0.0004391043249808836"/>
+			<geometry>
+				<mesh filename="textured_objs/original-112.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5279359630874578 -0.4083835309958324 0.0004391043249808836"/>
+			<geometry>
+				<mesh filename="textured_objs/original-111.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.5279359630874578 0.4083835309958324 -0.0004391043249808836"/>
+		<axis xyz="-9.926254200770128e-06 0.0010880567762528118 0.9999994080167854"/>
+		<child link="link_1"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_2">
+		<visual name="knob-3">
+			<origin xyz="-0.3936376441099773 -0.4081314991254458 0.0006633374896435461"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-3">
+			<origin xyz="-0.3936376441099773 -0.4081314991254458 0.0006633374896435461"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3936376441099773 -0.4081314991254458 0.0006633374896435461"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3936376441099773 -0.4081314991254458 0.0006633374896435461"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.3936376441099773 0.4081314991254458 -0.0006633374896435461"/>
+		<axis xyz="-1.4959745792036126e-05 0.0016397295493396943 0.9999986555307018"/>
+		<child link="link_2"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_3">
+		<visual name="knob-4">
+			<origin xyz="-0.25789281744188264 -0.4082611783237433 0.0005503261980142317"/>
+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-4">
+			<origin xyz="-0.25789281744188264 -0.4082611783237433 0.0005503261980142317"/>
+			<geometry>
+				<mesh filename="textured_objs/original-106.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.25789281744188264 -0.4082611783237433 0.0005503261980142317"/>
+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.25789281744188264 -0.4082611783237433 0.0005503261980142317"/>
+			<geometry>
+				<mesh filename="textured_objs/original-106.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.25789281744188264 0.4082611783237433 -0.0005503261980142317"/>
+		<axis xyz="-1.2354121449358792e-05 0.0013557785572692015 0.9999990808555173"/>
+		<child link="link_3"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_4">
+		<visual name="knob-5">
+			<origin xyz="-0.1221521634412283 -0.4079608551447811 0.000818675267315887"/>
+			<geometry>
+				<mesh filename="textured_objs/original-108.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-5">
+			<origin xyz="-0.1221521634412283 -0.4079608551447811 0.000818675267315887"/>
+			<geometry>
+				<mesh filename="textured_objs/original-109.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1221521634412283 -0.4079608551447811 0.000818675267315887"/>
+			<geometry>
+				<mesh filename="textured_objs/original-108.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.1221521634412283 -0.4079608551447811 0.000818675267315887"/>
+			<geometry>
+				<mesh filename="textured_objs/original-109.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="0.1221521634412283 0.4079608551447811 -0.000818675267315887"/>
+		<axis xyz="-1.8376085426153664e-05 0.00201224777374971 0.9999979752585585"/>
+		<child link="link_4"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_5">
+		<visual name="knob-6">
+			<origin xyz="0.2520115152106967 -0.40796059379703353 0.0008256871908699473"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-6">
+			<origin xyz="0.2520115152106967 -0.40796059379703353 0.0008256871908699473"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2520115152106967 -0.40796059379703353 0.0008256871908699473"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.2520115152106967 -0.40796059379703353 0.0008256871908699473"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.2520115152106967 0.40796059379703353 -0.0008256871908699473"/>
+		<axis xyz="1.8363239884593445e-05 -0.0020125909119670863 -0.9999979745682551"/>
+		<child link="link_5"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_6">
+		<visual name="knob-7">
+			<origin xyz="0.38775517069454707 -0.407960597833469 0.0008280445203390807"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-7">
+			<origin xyz="0.38775517069454707 -0.407960597833469 0.0008280445203390807"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.38775517069454707 -0.407960597833469 0.0008280445203390807"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.38775517069454707 -0.407960597833469 0.0008280445203390807"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.38775517069454707 0.407960597833469 -0.0008280445203390807"/>
+		<axis xyz="1.8375675945989576e-05 -0.0020122472129289115 -0.9999979752596946"/>
+		<child link="link_6"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_7">
+		<visual name="knob-8">
+			<origin xyz="0.5234985105905582 -0.4079607797012221 0.0008304912171875477"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-8">
+			<origin xyz="0.5234985105905582 -0.4079607797012221 0.0008304912171875477"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5234985105905582 -0.4079607797012221 0.0008304912171875477"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
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+	<link name="link_8">
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
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+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
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+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
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+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<geometry>
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+			</geometry>
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+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
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+		<collision>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_8"/>
+		<parent link="base"/>
+	</joint>
+</robot>
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diff --git a/PartNet/101971/joint_info.json b/PartNet/101971/joint_info.json
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--- /dev/null
+++ b/PartNet/101971/joint_info.json
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+[
+    {
+        "type": "revolute",
+        "range": [
+            0.0,
+            1.5707963267948966
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+                0.0,
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diff --git a/PartNet/101971/joints.json b/PartNet/101971/joints.json
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index 0000000000000000000000000000000000000000..3cae54dc57fa26559d70ef3515772008fa38be98
--- /dev/null
+++ b/PartNet/101971/joints.json
@@ -0,0 +1,34 @@
+{
+    "category": "Oven",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
+        "joint_5": [],
+        "joint_6": [],
+        "joint_7": [],
+        "joint_8": [],
+        "joint_9": [],
+        "joint_10": [],
+        "joint_11": [],
+        "joint_12": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8",
+            "joint_9",
+            "joint_10",
+            "joint_11"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/101971/mobility.urdf b/PartNet/101971/mobility.urdf
new file mode 100644
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--- /dev/null
+++ b/PartNet/101971/mobility.urdf
@@ -0,0 +1,791 @@
+<?xml version="1.0" ?>
+<robot name="partnet_d8e0d47be86833ffe8cd55fcf3e9137c">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="-0.594576 -0.6366914441730591 0.5751508766618287"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.594576 -0.6366914441730591 0.5751508766618287"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.594576 -0.6366914441730591 0.5751508766618287"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.594576 -0.6366914441730591 0.5751508766618287"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.594576 0.6366914441730591 -0.5751508766618287"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_12"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="0.5160555 -0.5432508011083387 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-2">
+			<origin xyz="0.5160555 -0.5432508011083387 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5160555 -0.5432508011083387 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.5160555 -0.5432508011083387 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.5160555 0.5432508011083387 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_12"/>
+		<limit lower="0" upper="0.008000000000000007"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="0.4194125 -0.5472262848314281 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-3">
+			<origin xyz="0.4194125 -0.5472262848314281 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4194125 -0.5472262848314281 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4194125 -0.5472262848314281 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.4194125 0.5472262848314281 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_12"/>
+		<limit lower="0" upper="0.008000000000000007"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="0.3549835 -0.5432508011083387 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-4">
+			<origin xyz="0.3549835 -0.5432508011083387 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3549835 -0.5432508011083387 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3549835 -0.5432508011083387 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.3549835 0.5432508011083387 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_3"/>
+		<parent link="link_12"/>
+		<limit lower="0" upper="0.008000000000000007"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-5">
+			<origin xyz="0.25834050000000003 -0.5472262848314281 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-5">
+			<origin xyz="0.25834050000000003 -0.5472262848314281 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.25834050000000003 -0.5472262848314281 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.25834050000000003 -0.5472262848314281 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="-0.25834050000000003 0.5472262848314281 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_4"/>
+		<parent link="link_12"/>
+		<limit lower="0" upper="0.008000000000000007"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-6">
+			<origin xyz="0.0819255 -0.5445774999999999 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="0.0819255 -0.5445774999999999 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0819255 -0.5445774999999999 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0819255 -0.5445774999999999 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="-0.0819255 0.5445774999999999 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_5"/>
+		<parent link="link_12"/>
+		<limit lower="0" upper="0.004000000000000007"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-7">
+			<origin xyz="0.033603999999999995 -0.5445774999999999 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-7">
+			<origin xyz="0.033603999999999995 -0.5445774999999999 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
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diff --git a/PartNet/102001/joint_info.json b/PartNet/102001/joint_info.json
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index 0000000000000000000000000000000000000000..504fd5d9eadd2e04154631823a24aee8e5161a77
--- /dev/null
+++ b/PartNet/102001/joint_info.json
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+[
+    {
+        "type": "revolute",
+        "range": [
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+            1.5707963267948966
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+        }
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+]
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--- /dev/null
+++ b/PartNet/102001/joints.json
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+{
+    "category": "Oven",
+    "joints": [
+        "joint_0",
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
+        "joint_5": [],
+        "joint_6": [],
+        "joint_7": [],
+        "joint_8": [],
+        "joint_9": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8"
+        ]
+    }
+}
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diff --git a/PartNet/102001/mobility.urdf b/PartNet/102001/mobility.urdf
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--- /dev/null
+++ b/PartNet/102001/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_e69db4d377603b7d37b2bb75885cfc44">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-120.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-122.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-121.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-120.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-122.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-121.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.731573 -0.3827608756532745 0.378074155554514"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_9"/>
+		<limit lower="-0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door-2">
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-125.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-124.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-114.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-115.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-125.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-124.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-114.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.731573 0.3827608756532745 -0.378074155554514"/>
+			<geometry>
+				<mesh filename="textured_objs/original-115.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.731573 -0.3827608756532745 0.378074155554514"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_9"/>
+		<limit lower="-0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_2">
+		<visual name="knob-3">
+			<origin xyz="-0.6015686335986594 -0.3490302864661151 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.6015686335986594 -0.3490302864661151 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.6015686335986594 0.3490302864661151 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_3">
+		<visual name="knob-4">
+			<origin xyz="-0.3736406870961268 -0.3490302628147679 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3736406870961268 -0.3490302628147679 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.3736406870961268 0.3490302628147679 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_3"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_4">
+		<visual name="knob-5">
+			<origin xyz="-0.14037968709612678 -0.3490302628147679 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.14037968709612678 -0.3490302628147679 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="0.14037968709612678 0.3490302628147679 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_4"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_5">
+		<visual name="knob-6">
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+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
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+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
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+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
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+		<axis xyz="0 0 1"/>
+		<child link="link_5"/>
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+			<geometry>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-112.obj"/>
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+	</link>
+	<joint name="joint_7" type="continuous">
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+		<axis xyz="0 0 -1"/>
+		<child link="link_7"/>
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+			<geometry>
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+	</link>
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+			<geometry>
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+		<child link="link_9"/>
+		<parent link="base"/>
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+{
+    "category": "Oven",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
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+        "joint_1": [],
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+		<visual name="door-1">
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+			<geometry>
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+		</visual>
+		<visual name="door-1">
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+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="door-1">
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+			<geometry>
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+			</geometry>
+		</visual>
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+			<geometry>
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+			<geometry>
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+			</geometry>
+		</visual>
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+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
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diff --git a/PartNet/102044/joint_info.json b/PartNet/102044/joint_info.json
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+[
+    {
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+{
+    "category": "Oven",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
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+            "joint_0",
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+            "joint_2",
+            "joint_3",
+            "joint_4",
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+        ]
+    }
+}
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diff --git a/PartNet/102044/mobility.urdf b/PartNet/102044/mobility.urdf
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--- /dev/null
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+<?xml version="1.0" ?>
+<robot name="partnet_f65123e8c8b2fb93324d4e93d8b9cf3d">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
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+			<geometry>
+				<mesh filename="textured_objs/original-143.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.766931 0.2802828538724408 -0.34634075570530237"/>
+			<geometry>
+				<mesh filename="textured_objs/original-146.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.766931 0.2802828538724408 -0.34634075570530237"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
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+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.766931 0.2802828538724408 -0.34634075570530237"/>
+			<geometry>
+				<mesh filename="textured_objs/original-145.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.766931 0.2802828538724408 -0.34634075570530237"/>
+			<geometry>
+				<mesh filename="textured_objs/original-127.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.766931 0.2802828538724408 -0.34634075570530237"/>
+			<geometry>
+				<mesh filename="textured_objs/original-142.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-143.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-146.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.766931 0.2802828538724408 -0.34634075570530237"/>
+			<geometry>
+				<mesh filename="textured_objs/original-145.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.766931 0.2802828538724408 -0.34634075570530237"/>
+			<geometry>
+				<mesh filename="textured_objs/original-127.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.766931 0.2802828538724408 -0.34634075570530237"/>
+			<geometry>
+				<mesh filename="textured_objs/original-142.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.766931 -0.2802828538724408 0.34634075570530237"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_6"/>
+		<limit lower="-0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="knob-2">
+			<origin xyz="0.057937999999999996 -0.35332399999999997 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.057937999999999996 0.35332399999999997 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_2">
+		<visual name="knob-3">
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+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.167432 -0.353324 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.167432 0.353324 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_3">
+		<visual name="knob-4">
+			<origin xyz="0.341254 -0.353324 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
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+{
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+        "joint_0"
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+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
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+		<axis xyz="0 1 0"/>
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+		<parent link="link_2"/>
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+		</visual>
+		<visual name="switch-2">
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+		<visual name="switch-2">
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+				<mesh filename="textured_objs/original-23.obj"/>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
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+	</link>
+	<joint name="joint_1" type="continuous">
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+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
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+			<geometry>
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+{
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+			<geometry>
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+			<geometry>
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+		<child link="link_0"/>
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diff --git a/PartNet/102389/joint_info.json b/PartNet/102389/joint_info.json
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+[
+    {
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+{
+    "category": "Safe",
+    "joints": [
+        "joint_16"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
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+            "joint_11",
+            "joint_12",
+            "joint_13",
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+        ],
+        "joint_16": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8",
+            "joint_9",
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+            "joint_11",
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+            "joint_13",
+            "joint_14"
+        ]
+    }
+}
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diff --git a/PartNet/102389/mobility.urdf b/PartNet/102389/mobility.urdf
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--- /dev/null
+++ b/PartNet/102389/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_f94dbeb1-cf41-4fb9-b57d-1e029816fa48">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="button-2">
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+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-2">
+			<origin xyz="0.07079816247989579 0.010280282502480975 -0.5687450000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.07079816247989579 0.010280282502480975 -0.5687450000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.07079816247989579 0.010280282502480975 -0.5687450000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="-0.7200490456108339 0.03438125697686362 2.220446049250313e-16"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_16"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-3">
+			<origin xyz="0.07079816247989579 0.010280282502480975 -0.5687450000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-3">
+			<origin xyz="0.07079816247989579 0.010280282502480975 -0.5687450000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.07079816247989579 0.010280282502480975 -0.5687450000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.07079816247989579 0.010280282502480975 -0.5687450000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.7200490456108339 0.03438125697686362 2.220446049250313e-16"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_16"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-4">
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+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-4">
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+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<origin xyz="-0.7200490456108339 0.03438125697686362 2.220446049250313e-16"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_16"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-5">
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+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
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+		</visual>
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+			<geometry>
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+			<geometry>
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+		</collision>
+	</link>
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+		<axis xyz="0 0 -1"/>
+		<child link="link_3"/>
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+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-6">
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+			<geometry>
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+		</visual>
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+	</link>
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+	</joint>
+	<link name="link_5">
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+			<geometry>
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+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-8">
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+			<geometry>
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+			<geometry>
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diff --git a/PartNet/102456/joint_info.json b/PartNet/102456/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d64cbfa2353fc8c12574ef2a7cbb8d732f0f765
--- /dev/null
+++ b/PartNet/102456/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            -0.7853981633974483,
+            2.0943951023931953
+        ],
+        "axis": {
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+                0.41979743174643525,
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+                -0.322773
+            ],
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+                -1.0,
+                0.0,
+                0.0
+            ]
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+]
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diff --git a/PartNet/102456/joints.json b/PartNet/102456/joints.json
new file mode 100644
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--- /dev/null
+++ b/PartNet/102456/joints.json
@@ -0,0 +1,12 @@
+{
+    "category": "Box",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ]
+    }
+}
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--- /dev/null
+++ b/PartNet/102456/mobility.urdf
@@ -0,0 +1,152 @@
+<?xml version="1.0" ?>
+<robot name="partnet_94a6787b34e3daa9afd6f224fcb6475e-0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.41979743174643525 -0.2523160000000001 0.322773"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.41979743174643525 -0.2523160000000001 0.322773"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.41979743174643525 -0.2523160000000001 0.322773"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.41979743174643525 -0.2523160000000001 0.322773"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.41979743174643525 0.2523160000000001 -0.322773"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.7853981633974483" upper="2.0943951023931953"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<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-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.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-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
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--- /dev/null
+++ b/PartNet/10270/joint_info.json
@@ -0,0 +1,21 @@
+[
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+        "type": "revolute",
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diff --git a/PartNet/10270/joints.json b/PartNet/10270/joints.json
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index 0000000000000000000000000000000000000000..ed9633077c671353589279b050be9e9b88f403d2
--- /dev/null
+++ b/PartNet/10270/joints.json
@@ -0,0 +1,12 @@
+{
+    "category": "Laptop",
+    "joints": [
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [
+            "joint_1"
+        ],
+        "joint_1": []
+    }
+}
\ No newline at end of file
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--- /dev/null
+++ b/PartNet/10270/mobility.urdf
@@ -0,0 +1,1196 @@
+<?xml version="1.0" ?>
+<robot name="partnet_57f3409e6f6c2dbc73baa2510487646b">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="keyboard-5">
+			<origin xyz="0 0 0"/>
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+		<visual name="keyboard-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-113.obj"/>
+			</geometry>
+		</visual>
+		<visual name="keyboard-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+				<mesh filename="textured_objs/original-49.obj"/>
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+		</visual>
+		<visual name="keyboard-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
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+		</visual>
+		<visual name="keyboard-5">
+			<origin xyz="0 0 0"/>
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+				<mesh filename="textured_objs/original-76.obj"/>
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+		</visual>
+		<visual name="keyboard-5">
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+			<geometry>
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+			</geometry>
+		</visual>
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+			<origin xyz="0 0 0"/>
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+		</visual>
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+			<geometry>
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+				<mesh filename="textured_objs/original-88.obj"/>
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new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/PartNet/10289/joint_info.json b/PartNet/10289/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..23893eb1746e21ab0034d2c7d8953950e5f88f3b
--- /dev/null
+++ b/PartNet/10289/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            -1.8095573684677206,
+            0.6723008278682154
+        ],
+        "axis": {
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+                -0.17507868398351395
+            ],
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+                -1.0,
+                0.0,
+                0.0
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+]
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diff --git a/PartNet/10289/joints.json b/PartNet/10289/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cfc8427010defd0dfbb76bb8f0da0f957cf70cd
--- /dev/null
+++ b/PartNet/10289/joints.json
@@ -0,0 +1,12 @@
+{
+    "category": "Laptop",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/10289/mobility.urdf b/PartNet/10289/mobility.urdf
new file mode 100644
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--- /dev/null
+++ b/PartNet/10289/mobility.urdf
@@ -0,0 +1,260 @@
+<?xml version="1.0" ?>
+<robot name="partnet_61972112749c9beeb95c80bb1ee18b0e">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="screen-11">
+			<origin xyz="-0.7293870000000005 0.15179449214493523 0.17507868398351395"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screen_frame-12">
+			<origin xyz="-0.7293870000000005 0.15179449214493523 0.17507868398351395"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screen_frame-12">
+			<origin xyz="-0.7293870000000005 0.15179449214493523 0.17507868398351395"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screen_frame-12">
+			<origin xyz="-0.7293870000000005 0.15179449214493523 0.17507868398351395"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="camera-13">
+			<origin xyz="-0.7293870000000005 0.15179449214493523 0.17507868398351395"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.7293870000000005 0.15179449214493523 0.17507868398351395"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.7293870000000005 0.15179449214493523 0.17507868398351395"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.7293870000000005 0.15179449214493523 0.17507868398351395"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.7293870000000005 0.15179449214493523 0.17507868398351395"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.7293870000000005 0.15179449214493523 0.17507868398351395"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.7293870000000005 -0.15179449214493523 -0.17507868398351395"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-1.8095573684677206" upper="0.6723008278682154"/>
+	</joint>
+	<link name="link_1">
+		<visual name="shaft-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="keyboard-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_frame-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_frame-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_frame-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_frame-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_frame-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_frame-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_frame-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_frame-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_frame-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_frame-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="touchpad_surface-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.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-29.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-24.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/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
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+[
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diff --git a/PartNet/103095/joints.json b/PartNet/103095/joints.json
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--- /dev/null
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+{
+    "category": "Stapler",
+    "joints": [
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ],
+        "joint_2": [
+            "joint_1",
+            "joint_0"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/103095/mobility.urdf b/PartNet/103095/mobility.urdf
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--- /dev/null
+++ b/PartNet/103095/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_376eb047b40ef4f6a480e3d8fdbd4a92">
+	<link name="base"/>
+	<link name="link_0">
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+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
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+	</link>
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+		<origin xyz="0 0.0 0.0"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
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+		</visual>
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+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0 0.09 -0.76"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
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+		</visual>
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+				<mesh filename="textured_objs/original-7.obj"/>
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+				<mesh filename="textured_objs/original-1.obj"/>
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+			<geometry>
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+[
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@@ -0,0 +1,16 @@
+{
+    "category": "Stapler",
+    "joints": [
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ],
+        "joint_2": [
+            "joint_1",
+            "joint_0"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/103111/mobility.urdf b/PartNet/103111/mobility.urdf
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--- /dev/null
+++ b/PartNet/103111/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_58a427e5201aa43be00ace8e7c1a5eeb">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="body-1">
+			<origin xyz="0 -0.10500870623151695 0.752066445189761"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.10500870623151695 0.752066445189761"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.0 0.0"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.037699111843077955" upper="2.758318349851838"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lid-2">
+			<origin xyz="0 -0.10500870623151695 0.752066445189761"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 -0.10500870623151695 0.752066445189761"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 -0.10500870623151695 0.752066445189761"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.10500870623151695 0.752066445189761"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.10500870623151695 0.752066445189761"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.10500870623151695 0.752066445189761"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0 0.10500870623151695 -0.752066445189761"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.09424777960769379" upper="2.0106192982974673"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
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+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			</geometry>
+		</collision>
+		<collision>
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+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-7.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>
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+	<joint name="joint_0" type="revolute">
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+		<axis xyz="1.0 0.0 0.0"/>
+		<child link="link_0"/>
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+		<child link="link_2"/>
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diff --git a/PartNet/103271/joint_info.json b/PartNet/103271/joint_info.json
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--- /dev/null
+++ b/PartNet/103271/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            -0.050265482457436686,
+            2.142566189748239
+        ],
+        "axis": {
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+                -0.0,
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--- /dev/null
+++ b/PartNet/103271/joints.json
@@ -0,0 +1,16 @@
+{
+    "category": "Stapler",
+    "joints": [
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ],
+        "joint_2": [
+            "joint_1",
+            "joint_0"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/103271/mobility.urdf b/PartNet/103271/mobility.urdf
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--- /dev/null
+++ b/PartNet/103271/mobility.urdf
@@ -0,0 +1,89 @@
+<?xml version="1.0" ?>
+<robot name="partnet_8c34afa29665356013b1d3e1528f0506-0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="body-1">
+			<origin xyz="-0.0 -0.09713288304940276 0.49444914751130464"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
+			<origin xyz="-0.0 -0.09713288304940276 0.49444914751130464"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 -0.09713288304940276 0.49444914751130464"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.09713288304940276 0.49444914751130464"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.0 0.018658453469988484 0.3295206648576805"/>
+		<axis xyz="1.0 -0.0 -0.0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.03769911184307752" upper="2.519557308179014"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lid-2">
+			<origin xyz="-0.0 -0.07847442957941428 0.8239698123689851"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 -0.07847442957941428 0.8239698123689851"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.0 0.07847442957941428 -0.8239698123689851"/>
+		<axis xyz="-1.0 -0.0 -0.0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.050265482457436686" upper="2.142566189748239"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<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-1.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>
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--- /dev/null
+++ b/PartNet/103273/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
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+            2.3247785636564466
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--- /dev/null
+++ b/PartNet/103273/joints.json
@@ -0,0 +1,16 @@
+{
+    "category": "Stapler",
+    "joints": [
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ],
+        "joint_2": [
+            "joint_1",
+            "joint_0"
+        ]
+    }
+}
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diff --git a/PartNet/103273/mobility.urdf b/PartNet/103273/mobility.urdf
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--- /dev/null
+++ b/PartNet/103273/mobility.urdf
@@ -0,0 +1,137 @@
+<?xml version="1.0" ?>
+<robot name="partnet_8d152be34b41785677937146265c551a">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="body-1">
+			<origin xyz="-0.0 -0.03543641684025268 0.725432050284953"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
+			<origin xyz="-0.0 -0.03543641684025268 0.725432050284953"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 -0.03543641684025268 0.725432050284953"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.03543641684025268 0.725432050284953"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.0 0.0 0.0"/>
+		<axis xyz="1.0 -0.0 -0.0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="2.7708847204661975"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lid-2">
+			<origin xyz="-0.0 -0.03543641684025268 0.725432050284953"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
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+		</visual>
+		<visual name="lid-2">
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+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
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+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
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+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.0 0.03543641684025268 -0.725432050284953"/>
+		<axis xyz="-1.0 0.0 0.0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
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+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
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+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
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+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
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+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
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+		</visual>
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+			<geometry>
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+	<joint name="joint_2" type="fixed">
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+		<child link="link_2"/>
+		<parent link="base"/>
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--- /dev/null
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+{
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+    "joints": [
+        "joint_1"
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+        "joint_1": [
+            "joint_0"
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+            "joint_1",
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diff --git a/PartNet/103297/mobility.urdf b/PartNet/103297/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_dc2cda7d-6fd5-48dd-8f7e-7524d7eb1c0a">
+	<link name="base"/>
+	<link name="link_0">
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+			<geometry>
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+		</visual>
+		<visual name="body-1">
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+			<geometry>
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+		</visual>
+		<visual name="body-1">
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+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
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+		<axis xyz="0.9999887896845383 0.0007589332188270689 -0.0046738127499684765"/>
+		<child link="link_0"/>
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+	</joint>
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+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
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+	</joint>
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+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
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+			</geometry>
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+				<mesh filename="textured_objs/original-6.obj"/>
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+		</collision>
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+		</collision>
+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
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+		</collision>
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+		<child link="link_2"/>
+		<parent link="base"/>
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--- /dev/null
+++ b/PartNet/103299/joint_info.json
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+[
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diff --git a/PartNet/103299/joints.json b/PartNet/103299/joints.json
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+{
+    "category": "Stapler",
+    "joints": [
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ],
+        "joint_2": [
+            "joint_1",
+            "joint_0"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/103299/mobility.urdf b/PartNet/103299/mobility.urdf
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--- /dev/null
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+<?xml version="1.0" ?>
+<robot name="partnet_f39912a4f0516fb897371d1e7cc637f3">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="body-1">
+			<origin xyz="-0.0 0.1533962566795296 0.7771303494914226"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body-1">
+			<origin xyz="-0.0 0.1533962566795296 0.7771303494914226"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 0.1533962566795296 0.7771303494914226"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.1533962566795296 0.7771303494914226"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.0 0.0 0.0"/>
+		<axis xyz="1.0 0.0 0.0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.08168140899333474" upper="2.7269024233159405"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lid-2">
+			<origin xyz="-0.0 0.1533962566795296 0.7771303494914226"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 0.1533962566795296 0.7771303494914226"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.0 -0.1533962566795296 -0.7771303494914226"/>
+		<axis xyz="-1.0 -0.0 -0.0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.48380526865282814" upper="1.2692034320502759"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.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>
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+		<child link="link_0"/>
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diff --git a/PartNet/103351/joint_info.json b/PartNet/103351/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad6a40868a88865c662acceaad9405a7651e552f
--- /dev/null
+++ b/PartNet/103351/joint_info.json
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+[
+    {
+        "type": "revolute",
+        "range": [
+            0.0,
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+        "axis": {
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+]
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diff --git a/PartNet/103351/joints.json b/PartNet/103351/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbe29a44d25b203634e5b036230be817fe16840a
--- /dev/null
+++ b/PartNet/103351/joints.json
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+{
+    "category": "WashingMachine",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
+        "joint_5": [],
+        "joint_6": [],
+        "joint_7": [],
+        "joint_8": [],
+        "joint_9": [],
+        "joint_10": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8",
+            "joint_9"
+        ]
+    }
+}
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diff --git a/PartNet/103351/mobility.urdf b/PartNet/103351/mobility.urdf
new file mode 100644
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--- /dev/null
+++ b/PartNet/103351/mobility.urdf
@@ -0,0 +1,1888 @@
+<?xml version="1.0" ?>
+<robot name="partnet_0f820012-c96c-4086-b005-b8e3f65984bf-0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-160.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-157.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-162.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-165.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-167.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-159.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-164.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-168.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-153.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-161.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-170.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-172.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-166.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-169.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-171.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-2">
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-154.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-160.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-157.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-162.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-165.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-167.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-159.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-164.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-168.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-153.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-161.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-170.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-172.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-166.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-169.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-171.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34955047546188944 -0.4652234765095634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-154.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.34955047546188944 0.4652234765095634"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_10"/>
+		<limit lower="0.0" upper="1.7530087007031048"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-4">
+			<origin xyz="-0.1921839615286175 -0.4883927971173909 0.08819420131776247"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1921839615286175 -0.4883927971173909 0.08819420131776247"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
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+		<axis xyz="-0.000383741431399745 -0.17756002504272073 -0.9841098974450682"/>
+		<child link="link_1"/>
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+	<link name="link_2">
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+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
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+		<visual name="button-5">
+			<origin xyz="-0.451198 -0.4906898813490685 0.10562214154364814"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.451198 -0.4906898813490685 0.10562214154364814"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
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+		<axis xyz="0 -0.21043248890715746 -0.9776083917460708"/>
+		<child link="link_2"/>
+		<parent link="link_10"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
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+	<link name="link_3">
+		<visual name="button-6">
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+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
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+		</visual>
+		<collision>
+			<origin xyz="-0.45219461168442465 -0.522699472786737 0.1488376692684074"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.45219461168442465 0.522699472786737 -0.1488376692684074"/>
+		<axis xyz="0 -0.2738618858718974 -0.9617690302077146"/>
+		<child link="link_3"/>
+		<parent link="link_10"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-7">
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+			<geometry>
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+		<visual name="button-7">
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+	</link>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-155.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_10"/>
+		<parent link="base"/>
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diff --git a/PartNet/103361/joint_info.json b/PartNet/103361/joint_info.json
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--- /dev/null
+++ b/PartNet/103361/joint_info.json
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+[
+    {
+        "type": "revolute",
+        "range": [
+            -0.0,
+            1.8158405537749007
+        ],
+        "axis": {
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+                -1.0,
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+        }
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+]
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diff --git a/PartNet/103361/joints.json b/PartNet/103361/joints.json
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--- /dev/null
+++ b/PartNet/103361/joints.json
@@ -0,0 +1,28 @@
+{
+    "category": "WashingMachine",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
+        "joint_5": [],
+        "joint_6": [],
+        "joint_7": [],
+        "joint_8": [],
+        "joint_9": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/103361/mobility.urdf b/PartNet/103361/mobility.urdf
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--- /dev/null
+++ b/PartNet/103361/mobility.urdf
@@ -0,0 +1,499 @@
+<?xml version="1.0" ?>
+<robot name="partnet_265d042dcfed6f15c357c21161963e89">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.3797149673919198 0 -0.47984316401183624"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3797149673919198 0 -0.47984316401183624"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.3797149673919198 0 0.47984316401183624"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_9"/>
+		<limit lower="-0.0" upper="1.8158405537749007"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="-0.3608290187617561 -0.3823583307343096 0.16304735088468345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-2">
+			<origin xyz="-0.3608290187617561 -0.3823583307343096 0.16304735088468345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-2">
+			<origin xyz="-0.3608290187617561 -0.3823583307343096 0.16304735088468345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3608290187617561 -0.3823583307343096 0.16304735088468345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3608290187617561 -0.3823583307343096 0.16304735088468345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3608290187617561 -0.3823583307343096 0.16304735088468345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.3608290187617561 0.3823583307343096 -0.16304735088468345"/>
+		<axis xyz="-0.036070642235517744 -0.3630010472679937 -0.9310903009112796"/>
+		<child link="link_1"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="-0.3576791566362107 -0.4722581626579402 0.07574386579386791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-3">
+			<origin xyz="-0.3576791566362107 -0.4722581626579402 0.07574386579386791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-3">
+			<origin xyz="-0.3576791566362107 -0.4722581626579402 0.07574386579386791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3576791566362107 -0.4722581626579402 0.07574386579386791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3576791566362107 -0.4722581626579402 0.07574386579386791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3576791566362107 -0.4722581626579402 0.07574386579386791"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.3576791566362107 0.4722581626579402 -0.07574386579386791"/>
+		<axis xyz="-0.0339493356494014 -0.13315255451362873 -0.9905139271284679"/>
+		<child link="link_2"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="-0.31154698804565967 -0.4425076426642484 0.09041005281816578"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-4">
+			<origin xyz="-0.31154698804565967 -0.4425076426642484 0.09041005281816578"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
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--- /dev/null
+++ b/PartNet/103425/gt_mesh/02.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 501368
diff --git a/PartNet/103425/gt_mesh/03.glb b/PartNet/103425/gt_mesh/03.glb
new file mode 100644
index 0000000000000000000000000000000000000000..040b435224bafd6fbe89edf04e586e62c90ca660
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+++ b/PartNet/103425/gt_mesh/03.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24bc3fe5c9db7d00ec9eb7d3e21ba75df40a49aee8a6b8f53dfce185e916b0b9
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diff --git a/PartNet/103425/gt_mesh/04.glb b/PartNet/103425/gt_mesh/04.glb
new file mode 100644
index 0000000000000000000000000000000000000000..35fc152ae72802c1f24070ac0934e37825dd29c6
--- /dev/null
+++ b/PartNet/103425/gt_mesh/04.glb
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b61308d0479d162bc73aa5409280e6de7818deba803600bda843f14c4935d22a
+size 501352
diff --git a/PartNet/103425/gt_mesh/05.glb b/PartNet/103425/gt_mesh/05.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4c18cfa6d29b6edf9e35bda3ad2a79e59d599232
--- /dev/null
+++ b/PartNet/103425/gt_mesh/05.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69905386c1425b30db88c880bcb5e69e39b00daf5941c26d6cf95dd38a38a79a
+size 501376
diff --git a/PartNet/103425/joint_info.json b/PartNet/103425/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1be5ada91252287f797f2ed6e1459ad2b7e5407
--- /dev/null
+++ b/PartNet/103425/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            -0.0,
+            1.7090264035528477
+        ],
+        "axis": {
+            "origin": [
+                -0.38394308453425735,
+                0.0,
+                0.493654347360135
+            ],
+            "direction": [
+                0.0,
+                -1.0,
+                0.0
+            ]
+        }
+    }
+]
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diff --git a/PartNet/103425/joints.json b/PartNet/103425/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..944954edc8dc62926338a44a44511aedf65af52b
--- /dev/null
+++ b/PartNet/103425/joints.json
@@ -0,0 +1,28 @@
+{
+    "category": "WashingMachine",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
+        "joint_5": [],
+        "joint_6": [],
+        "joint_7": [],
+        "joint_8": [],
+        "joint_9": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/103425/mobility.urdf b/PartNet/103425/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a87932ebdc301fb1879d7d520d9896a62b38c1ec
--- /dev/null
+++ b/PartNet/103425/mobility.urdf
@@ -0,0 +1,667 @@
+<?xml version="1.0" ?>
+<robot name="partnet_8b04de89-4f3f-45d8-8d7a-6bb5958e5340">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.38394308453425735 0 -0.493654347360135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.38394308453425735 0 0.493654347360135"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_9"/>
+		<limit lower="-0.0" upper="1.7090264035528477"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="-0.31767773921419673 -0.2682714258558344 0.14778308653198355"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-2">
+			<origin xyz="-0.31767773921419673 -0.2682714258558344 0.14778308653198355"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31767773921419673 -0.2682714258558344 0.14778308653198355"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.31767773921419673 -0.2682714258558344 0.14778308653198355"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.31767773921419673 0.2682714258558344 -0.14778308653198355"/>
+		<axis xyz="-0.08684480220010744 -0.3998161743444751 -0.9124719212465515"/>
+		<child link="link_1"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="-0.2818228813899932 -0.3688154185906545 0.12702605967754443"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-3">
+			<origin xyz="-0.2818228813899932 -0.3688154185906545 0.12702605967754443"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2818228813899932 -0.3688154185906545 0.12702605967754443"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2818228813899932 -0.3688154185906545 0.12702605967754443"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.2818228813899932 0.3688154185906545 -0.12702605967754443"/>
+		<axis xyz="-0.08389114127803196 -0.26658849421047365 -0.9601525145359261"/>
+		<child link="link_2"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="-0.27733079936536126 -0.4187712621673818 0.09015500546935648"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-4">
+			<origin xyz="-0.27733079936536126 -0.4187712621673818 0.09015500546935648"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.27733079936536126 -0.4187712621673818 0.09015500546935648"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.27733079936536126 -0.4187712621673818 0.09015500546935648"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.27733079936536126 0.4187712621673818 -0.09015500546935648"/>
+		<axis xyz="-0.025892270741828118 -0.19397490139656193 -0.9806647377896414"/>
+		<child link="link_3"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-5">
+			<origin xyz="-0.1980649069448888 -0.3596410539860462 0.11705225285575382"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-5">
+			<origin xyz="-0.1980649069448888 -0.3596410539860462 0.11705225285575382"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1980649069448888 -0.3596410539860462 0.11705225285575382"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.1980649069448888 -0.3596410539860462 0.11705225285575382"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.1980649069448888 0.3596410539860462 -0.11705225285575382"/>
+		<axis xyz="-0.08309591294991464 -0.2667454715756602 -0.9601780681961546"/>
+		<child link="link_4"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-6">
+			<origin xyz="-0.1846102132331198 -0.43863392073047763 0.07222839785642145"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="-0.1846102132331198 -0.43863392073047763 0.07222839785642145"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1846102132331198 -0.43863392073047763 0.07222839785642145"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.1846102132331198 -0.43863392073047763 0.07222839785642145"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0.1846102132331198 0.43863392073047763 -0.07222839785642145"/>
+		<axis xyz="-0.04065334067879068 -0.14566281282898277 -0.9884986853053489"/>
+		<child link="link_5"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-7">
+			<origin xyz="-0.35737505481025833 -0.39616727705539556 0.15958537506323675"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-7">
+			<origin xyz="-0.35737505481025833 -0.39616727705539556 0.15958537506323675"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
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+		<collision>
+			<origin xyz="-0.35737505481025833 -0.39616727705539556 0.15958537506323675"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="0.35737505481025833 0.39616727705539556 -0.15958537506323675"/>
+		<axis xyz="-0.04318331230115594 -0.33953803707996705 -0.9396005124065141"/>
+		<child link="link_6"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_7">
+		<visual name="button-8">
+			<origin xyz="-0.13848675496509236 -0.31128208139080893 0.16627863107294438"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
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+		</visual>
+		<visual name="button-8">
+			<origin xyz="-0.13848675496509236 -0.31128208139080893 0.16627863107294438"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
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+		</visual>
+		<collision>
+			<origin xyz="-0.13848675496509236 -0.31128208139080893 0.16627863107294438"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
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+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="0.13848675496509236 0.31128208139080893 -0.16627863107294438"/>
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+		<parent link="link_9"/>
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+	<link name="link_8">
+		<visual name="button-9">
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+		<visual name="button-9">
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+		<visual name="button-9">
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+			<geometry>
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+			<origin xyz="-0.0026934999999999997 -0.4207126754153561 0.1278276927252227"/>
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+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.0026934999999999997 0.4207126754153561 -0.1278276927252227"/>
+		<axis xyz="0 0.2907134619835902 0.9568101603878985"/>
+		<child link="link_8"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_9">
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
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+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
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+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
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+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
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+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
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diff --git a/PartNet/10347/joint_info.json b/PartNet/10347/joint_info.json
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--- /dev/null
+++ b/PartNet/10347/joint_info.json
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+[
+    {
+        "type": "revolute",
+        "range": [
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+        ],
+        "axis": {
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+]
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diff --git a/PartNet/10347/joints.json b/PartNet/10347/joints.json
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--- /dev/null
+++ b/PartNet/10347/joints.json
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+{
+    "category": "Refrigerator",
+    "joints": [
+        "joint_0",
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [
+            "joint_0",
+            "joint_1"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/10347/mobility.urdf b/PartNet/10347/mobility.urdf
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--- /dev/null
+++ b/PartNet/10347/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_37e4e31465ab231e657fedbea3770934">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-10">
+			<origin xyz="-0.31494556799530987 0 -0.27021547079086305"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-10">
+			<origin xyz="-0.31494556799530987 0 -0.27021547079086305"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-11">
+			<origin xyz="-0.31494556799530987 0 -0.27021547079086305"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31494556799530987 0 -0.27021547079086305"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.31494556799530987 0 -0.27021547079086305"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.31494556799530987 0 -0.27021547079086305"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.31494556799530987 0 0.27021547079086305"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door_frame-13">
+			<origin xyz="-0.3084289085206536 -0.9348190000000001 -0.26709179782210213"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-14">
+			<origin xyz="-0.3084289085206536 -0.9348190000000001 -0.26709179782210213"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3084289085206536 -0.9348190000000001 -0.26709179782210213"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3084289085206536 -0.9348190000000001 -0.26709179782210213"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.3084289085206536 0.9348190000000001 0.26709179782210213"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_2">
+		<visual name="frame-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
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+			</geometry>
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+			<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>
+		</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-10.obj"/>
+			</geometry>
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+		<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-12.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-4.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>
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diff --git a/PartNet/103490/joint_info.json b/PartNet/103490/joint_info.json
new file mode 100644
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--- /dev/null
+++ b/PartNet/103490/joint_info.json
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+[
+    {
+        "type": "revolute",
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diff --git a/PartNet/103490/joints.json b/PartNet/103490/joints.json
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--- /dev/null
+++ b/PartNet/103490/joints.json
@@ -0,0 +1,20 @@
+{
+    "category": "WashingMachine",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
+        "joint_5": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4"
+        ]
+    }
+}
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diff --git a/PartNet/103490/mobility.urdf b/PartNet/103490/mobility.urdf
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--- /dev/null
+++ b/PartNet/103490/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_u999c818c-3575-446f-93c2-c994abe0936f">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0 -0.5279442084299707 0.2819308550655824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0 -0.5279442084299707 0.2819308550655824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0 -0.5279442084299707 0.2819308550655824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0 -0.5279442084299707 0.2819308550655824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0 -0.5279442084299707 0.2819308550655824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0 -0.5279442084299707 0.2819308550655824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0 -0.5279442084299707 0.2819308550655824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.5279442084299707 0.2819308550655824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.5279442084299707 0.2819308550655824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.5279442084299707 0.2819308550655824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.5279442084299707 0.2819308550655824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.5279442084299707 0.2819308550655824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.5279442084299707 0.2819308550655824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.5279442084299707 0.2819308550655824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.5279442084299707 -0.2819308550655824"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_5"/>
+		<limit lower="-0.6660176425610361" upper="0.7916813487046281"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="0.377276 -0.6812971418028592 0.3338865574872025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-109.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-2">
+			<origin xyz="0.377276 -0.6812971418028592 0.3338865574872025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-112.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.377276 -0.6812971418028592 0.3338865574872025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-109.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.377276 -0.6812971418028592 0.3338865574872025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-112.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.377276 0.6812971418028592 -0.3338865574872025"/>
+		<axis xyz="0 -0.4400694090960707 -0.8979637605036382"/>
+		<child link="link_1"/>
+		<parent link="link_5"/>
+		<limit lower="0" upper="0.001"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="0.377276 -0.6991561761594797 0.3426890933916265"/>
+			<geometry>
+				<mesh filename="textured_objs/original-106.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-3">
+			<origin xyz="0.377276 -0.6991561761594797 0.3426890933916265"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.377276 -0.6991561761594797 0.3426890933916265"/>
+			<geometry>
+				<mesh filename="textured_objs/original-106.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.377276 -0.6991561761594797 0.3426890933916265"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.377276 0.6991561761594797 -0.3426890933916265"/>
+		<axis xyz="0 -0.44012148276238877 -0.8979382386395159"/>
+		<child link="link_2"/>
+		<parent link="link_5"/>
+		<limit lower="0" upper="0.001"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
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+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-4">
+			<origin xyz="0.377276 -0.7170498712994224 0.3514080690860767"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.377276 -0.7170498712994224 0.3514080690860767"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.377276 -0.7170498712994224 0.3514080690860767"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
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+		<axis xyz="0 -0.4400694090960707 -0.8979637605036382"/>
+		<child link="link_3"/>
+		<parent link="link_5"/>
+		<limit lower="0" upper="0.001"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-5">
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+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
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+++ b/PartNet/103508/gt_mesh/05.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:606085a216019d14bc177df43aae5f4f730b2a1800563a7d138006b66f799b48
+size 376928
diff --git a/PartNet/103508/joint_info.json b/PartNet/103508/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6248b21d0590f77e5921fedb01331304722d82f
--- /dev/null
+++ b/PartNet/103508/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            -0.7916813487046281,
+            0.9236282401553991
+        ],
+        "axis": {
+            "origin": [
+                -0.31725487127900165,
+                0.4720136235792426,
+                0.0
+            ],
+            "direction": [
+                0.0,
+                0.0,
+                1.0
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/PartNet/103508/joints.json b/PartNet/103508/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe68030f94195286292c289413be5671f32c41d9
--- /dev/null
+++ b/PartNet/103508/joints.json
@@ -0,0 +1,18 @@
+{
+    "category": "WashingMachine",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/103508/mobility.urdf b/PartNet/103508/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..03100a7dc8efec8e425f76407164b6d5c89897f8
--- /dev/null
+++ b/PartNet/103508/mobility.urdf
@@ -0,0 +1,896 @@
+<?xml version="1.0" ?>
+<robot name="partnet_uc5f2e411-5f8e-4b10-8393-75ce97e6e869">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.31725487127900165 -0.4720136235792426 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.31725487127900165 0.4720136235792426 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_4"/>
+		<limit lower="-0.7916813487046281" upper="0.9236282401553991"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="-0.35865137673804465 -0.6424594150776 0.3078113164107364"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.35865137673804465 -0.6424594150776 0.3078113164107364"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.35865137673804465 0.6424594150776 -0.3078113164107364"/>
+		<axis xyz="0 -0.43208156565881944 -0.9018345306195718"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="0.186749 -0.644492289115924 0.308778322577183"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.186749 -0.644492289115924 0.308778322577183"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.186749 0.644492289115924 -0.308778322577183"/>
+		<axis xyz="0 -0.4320736342233448 -0.9018383306386082"/>
+		<child link="link_2"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="0.2893495 -0.644492289115924 0.308778322577183"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2893495 -0.644492289115924 0.308778322577183"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.2893495 0.644492289115924 -0.308778322577183"/>
+		<axis xyz="0 -0.43207363422334477 -0.9018383306386082"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_4">
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
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+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
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+			<origin xyz="0 0 0"/>
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+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
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+			<origin xyz="0 0 0"/>
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+			<origin xyz="0 0 0"/>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
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diff --git a/PartNet/103518/joint_info.json b/PartNet/103518/joint_info.json
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--- /dev/null
+++ b/PartNet/103518/joint_info.json
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+[
+    {
+        "type": "revolute",
+        "range": [
+            -0.0,
+            1.6147786239451534
+        ],
+        "axis": {
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+                0.4413957591354833
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+                -1.0,
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diff --git a/PartNet/103518/joints.json b/PartNet/103518/joints.json
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--- /dev/null
+++ b/PartNet/103518/joints.json
@@ -0,0 +1,24 @@
+{
+    "category": "WashingMachine",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
+        "joint_5": [],
+        "joint_6": [],
+        "joint_7": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/103518/mobility.urdf b/PartNet/103518/mobility.urdf
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--- /dev/null
+++ b/PartNet/103518/mobility.urdf
@@ -0,0 +1,1896 @@
+<?xml version="1.0" ?>
+<robot name="partnet_ucfaedfea-c15a-495c-9037-21108eeeb006">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.34297031951136614 0 -0.4413957591354833"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.34297031951136614 0 -0.4413957591354833"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.34297031951136614 0 -0.4413957591354833"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.34297031951136614 0 -0.4413957591354833"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.34297031951136614 0 -0.4413957591354833"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.34297031951136614 0 -0.4413957591354833"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.34297031951136614 0 0.4413957591354833"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_7"/>
+		<limit lower="-0.0" upper="1.6147786239451534"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="-0.40740559569171403 -0.496502 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.40740559569171403 -0.496502 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.40740559569171403 0.496502 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="-0.2553145773830434 -0.49650199999999994 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2553145773830434 -0.49650199999999994 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.2553145773830434 0.49650199999999994 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="-0.1055755 -0.4828895 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-144.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1055755 -0.4828895 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-144.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.1055755 0.4828895 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_3"/>
+		<parent link="link_7"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-5">
+			<origin xyz="-0.020985 -0.482985 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-142.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.020985 -0.482985 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-142.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.020985 0.482985 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_4"/>
+		<parent link="link_7"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-6">
+			<origin xyz="0.029712 -0.482985 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-141.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.029712 -0.482985 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-141.obj"/>
+			</geometry>
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+]
\ No newline at end of file
diff --git a/PartNet/103521/joints.json b/PartNet/103521/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..9346711c6cd5a7a3a44ac0b2e8708ba057c4459b
--- /dev/null
+++ b/PartNet/103521/joints.json
@@ -0,0 +1,19 @@
+{
+    "category": "WashingMachine",
+    "joints": [
+        "joint_0",
+        "joint_3"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/103521/mobility.urdf b/PartNet/103521/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0fa90a049bcfa7b00b142c0760fc70e8ee51c437
--- /dev/null
+++ b/PartNet/103521/mobility.urdf
@@ -0,0 +1,658 @@
+<?xml version="1.0" ?>
+<robot name="partnet_ucfffa8c9-9586-4087-a72c-87a394ef4425">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.4434688256619171 0 -0.4221115149057051"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.4434688256619171 0 -0.4221115149057051"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.4434688256619171 0 -0.4221115149057051"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.4434688256619171 0 -0.4221115149057051"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.4434688256619171 0 -0.4221115149057051"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4434688256619171 0 -0.4221115149057051"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4434688256619171 0 -0.4221115149057051"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4434688256619171 0 -0.4221115149057051"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4434688256619171 0 -0.4221115149057051"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4434688256619171 0 -0.4221115149057051"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.4434688256619171 0 0.4221115149057051"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_4"/>
+		<limit lower="-0.0" upper="1.6147786239451534"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-3">
+			<origin xyz="-0.1442795 -0.47193002804455303 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1442795 -0.47193002804455303 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.1442795 0.47193002804455303 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-4">
+			<origin xyz="-0.27712644395233493 -0.4719302853334676 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.27712644395233493 -0.4719302853334676 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.27712644395233493 0.4719302853334676 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_3">
+		<visual name="door-5">
+			<origin xyz="0 0.7031900698613369 -0.4134005536139007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-5">
+			<origin xyz="0 0.7031900698613369 -0.4134005536139007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7031900698613369 -0.4134005536139007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.7031900698613369 -0.4134005536139007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="revolute">
+		<origin xyz="0 -0.7031900698613369 0.4134005536139007"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+		<limit lower="0.0" upper="1.4702653618800234"/>
+	</joint>
+	<link name="link_4">
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.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-28.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-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-33.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-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.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-31.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-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.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-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
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+				<mesh filename="textured_objs/original-10.obj"/>
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+			<geometry>
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+		</collision>
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+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
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+		</collision>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
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diff --git a/PartNet/103528/joint_info.json b/PartNet/103528/joint_info.json
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--- /dev/null
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+[
+    {
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--- /dev/null
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+{
+    "category": "WashingMachine",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
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+        "joint_6": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5"
+        ]
+    }
+}
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diff --git a/PartNet/103528/mobility.urdf b/PartNet/103528/mobility.urdf
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--- /dev/null
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+<?xml version="1.0" ?>
+<robot name="partnet_ud7bfe8da-a840-4efa-92d4-3d437469f827">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0 -0.5983993440557489 0.1703105998854158"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.5983993440557489 0.1703105998854158"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.5983993440557489 -0.1703105998854158"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_6"/>
+		<limit lower="-0.0" upper="1.7530087007031045"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="-0.408232 -0.7455020961191393 0.2765604734330833"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.408232 -0.7455020961191393 0.2765604734330833"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.408232 0.7455020961191393 -0.2765604734330833"/>
+		<axis xyz="0 -0.34781042239014376 -0.9375648831290504"/>
+		<child link="link_1"/>
+		<parent link="link_6"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="-0.2310247003641109 -0.7301563751686313 0.31669579319885244"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-3">
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+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2310247003641109 -0.7301563751686313 0.31669579319885244"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
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+		<axis xyz="-0.00089124813569212 0.3981563306339032 0.9173171436601992"/>
+		<child link="link_2"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="0.09018118556705751 -0.7092764531699123 0.3600146913930578"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-4">
+			<origin xyz="0.09018118556705751 -0.7092764531699123 0.3600146913930578"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
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+	</link>
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+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-5">
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+			<geometry>
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+		</visual>
+		<collision>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
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+	</link>
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+			<geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
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+	</link>
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+[
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+        "type": "revolute",
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+{
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+    "joints": [
+        "joint_0"
+    ],
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+        "joint_1": [
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+<?xml version="1.0" ?>
+<robot name="partnet_6ab94ae2ac08a1ff100b1bd8b508fdbe">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="screen-9">
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+		</visual>
+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.5272977926336377 -0.15594900000000012 -0.1484678493041609"/>
+		<axis xyz="-0.9054225388086278 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-2.0106192982974673" upper="1.0555751316061706"/>
+	</joint>
+	<link name="link_1">
+		<visual name="keyboard-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="keyboard-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="keyboard-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="keyboard-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<visual name="keyboard-3">
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+		</visual>
+		<visual name="keyboard-3">
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+			<geometry>
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+		<visual name="keyboard-3">
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+			<geometry>
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+		</collision>
+	</link>
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+		<child link="link_1"/>
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+[
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+{
+    "category": "WashingMachine",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
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+        "joint_2": [
+            "joint_0",
+            "joint_1"
+        ]
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+<robot name="partnet_4163de2ce7f6f59aed1d8381d2c075c2-0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
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+			<geometry>
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+		</visual>
+		<visual name="door-1">
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+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.4146166991768276 0 -0.5667437866539679"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="door-1">
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+			<geometry>
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+			</geometry>
+		</visual>
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+			<origin xyz="0.4146166991768276 0 -0.5667437866539679"/>
+			<geometry>
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+		</collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
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+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.4146166991768276 0 0.5667437866539679"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="-0.0" upper="1.696460032938488"/>
+	</joint>
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+		<visual name="button-3">
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+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.05796929305383816 0.1116938634046033 -0.05984767735562315"/>
+		<axis xyz="-0.07405249058244799 -0.5005848353488723 -0.8625143774206194"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+[
+    {
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+{
+    "category": "WashingMachine",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3"
+        ]
+    }
+}
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diff --git a/PartNet/103776/mobility.urdf b/PartNet/103776/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_50c639910aa3d75f29d8eecf3827c486">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0 -0.5355253180113568 0.1994985763728603"/>
+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.5355253180113568 -0.1994985763728603"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_4"/>
+		<limit lower="-0.0" upper="1.4011503235010472"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="-0.27982609723602747 -0.6644836434432643 0.337098325800473"/>
+			<geometry>
+				<mesh filename="textured_objs/original-110.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.27982609723602747 -0.6644836434432643 0.337098325800473"/>
+			<geometry>
+				<mesh filename="textured_objs/original-110.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
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+		<collision>
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+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
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diff --git a/PartNet/103778/joint_info.json b/PartNet/103778/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..702f33f8043a5e8632172d8ce7f2e33274e34e22
--- /dev/null
+++ b/PartNet/103778/joint_info.json
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+[
+    {
+        "type": "revolute",
+        "range": [
+            -0.0,
+            1.8975219627682356
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+        "axis": {
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+            "direction": [
+                0.0,
+                -1.0,
+                0.0
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+        }
+    }
+]
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diff --git a/PartNet/103778/joints.json b/PartNet/103778/joints.json
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--- /dev/null
+++ b/PartNet/103778/joints.json
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+{
+    "category": "WashingMachine",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
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+        "joint_6": [],
+        "joint_7": [],
+        "joint_8": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/103778/mobility.urdf b/PartNet/103778/mobility.urdf
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--- /dev/null
+++ b/PartNet/103778/mobility.urdf
@@ -0,0 +1,622 @@
+<?xml version="1.0" ?>
+<robot name="partnet_62e22f4d1846d8c1fdc6c1669e5c540">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door-1">
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door-1">
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3505438306555218 0 -0.6806900316849398"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.3505438306555218 0 0.6806900316849398"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_8"/>
+		<limit lower="-0.0" upper="1.8975219627682356"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-2">
+			<origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.1254727105552122 -0.46922082066593773 0.007191497597979165"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.1254727105552122 0.46922082066593773 -0.007191497597979165"/>
+		<axis xyz="0.057221323792074306 0 -0.9983615177396826"/>
+		<child link="link_1"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-3">
+			<origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.07681543618556444 -0.4700815299895653 0.004343945367298942"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.07681543618556444 0.4700815299895653 -0.004343945367298942"/>
+		<axis xyz="0.05646021769965069 0 -0.9984048496563447"/>
+		<child link="link_2"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-4">
+			<origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.026295263185476956 -0.4705311323852867 0.0014205888183748611"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.026295263185476956 0.4705311323852867 -0.0014205888183748611"/>
+		<axis xyz="0.056956749082280156 0.00016876671139097167 -0.9983766324648106"/>
+		<child link="link_3"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.0020000000000000035"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-5">
+			<origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-5">
+			<origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.025673077525130164 -0.47040859730475854 -0.0014714584114564418"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
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+		</visual>
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+		</visual>
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+			<geometry>
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+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.0 0.0"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
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+[
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+{
+    "category": "Refrigerator",
+    "joints": [
+        "joint_1",
+        "joint_2"
+    ],
+    "descendants": {
+        "joint_0": [
+            "joint_1",
+            "joint_2"
+        ],
+        "joint_1": [],
+        "joint_2": []
+    }
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diff --git a/PartNet/10612/mobility.urdf b/PartNet/10612/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_3a183e5df9df3cf8241e46a406e96e16">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="surface-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="frame-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door_frame-13">
+			<origin xyz="-0.42723265255105236 -0.8435660000000003 -0.30571877581830753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-14">
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+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
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diff --git a/PartNet/10655/joint_info.json b/PartNet/10655/joint_info.json
new file mode 100644
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--- /dev/null
+++ b/PartNet/10655/joint_info.json
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+[
+    {
+        "type": "revolute",
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+            -0.0,
+            3.141592653589793
+        ],
+        "axis": {
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+                0.21105892222321376
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+                0.0,
+                1.0,
+                0.0
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+]
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--- /dev/null
+++ b/PartNet/10655/joints.json
@@ -0,0 +1,14 @@
+{
+    "category": "Refrigerator",
+    "joints": [
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [
+            "joint_1",
+            "joint_2"
+        ],
+        "joint_1": [],
+        "joint_2": []
+    }
+}
\ No newline at end of file
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--- /dev/null
+++ b/PartNet/10655/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_4b2c920fb2619726578d107c71db28ac">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="frame-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door_frame-10">
+			<origin xyz="-0.49634208261697066 -0.8111190000000001 -0.21105892222321376"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-11">
+			<origin xyz="-0.49634208261697066 -0.8111190000000001 -0.21105892222321376"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.49634208261697066 -0.8111190000000001 -0.21105892222321376"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.49634208261697066 -0.8111190000000001 -0.21105892222321376"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.49634208261697066 0.8111190000000001 0.21105892222321376"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="-0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_2">
+		<visual name="control_panel-15">
+			<origin xyz="0.44348677074091003 -0.8111190000000001 -0.19533683083987108"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-12">
+			<origin xyz="0.44348677074091003 -0.8111190000000001 -0.19533683083987108"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-13">
+			<origin xyz="0.44348677074091003 -0.8111190000000001 -0.19533683083987108"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.44348677074091003 -0.8111190000000001 -0.19533683083987108"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.44348677074091003 -0.8111190000000001 -0.19533683083987108"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.44348677074091003 -0.8111190000000001 -0.19533683083987108"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="-0.44348677074091003 0.8111190000000001 0.19533683083987108"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+		<limit lower="0.0" upper="3.141592653589793"/>
+	</joint>
+</robot>
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new file mode 100644
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--- /dev/null
+++ b/PartNet/10751/joint_info.json
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+[
+    {
+        "type": "revolute",
+        "range": [
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+            3.141592653589793
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+        "axis": {
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+                1.0,
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+]
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--- /dev/null
+++ b/PartNet/10751/joints.json
@@ -0,0 +1,15 @@
+{
+    "category": "Refrigerator",
+    "joints": [
+        "joint_1",
+        "joint_2"
+    ],
+    "descendants": {
+        "joint_0": [
+            "joint_1",
+            "joint_2"
+        ],
+        "joint_1": [],
+        "joint_2": []
+    }
+}
\ No newline at end of file
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--- /dev/null
+++ b/PartNet/10751/mobility.urdf
@@ -0,0 +1,101 @@
+<?xml version="1.0" ?>
+<robot name="partnet_5a22adeed868c76743c8f1cd479ffb1e">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="frame-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door_frame-10">
+			<origin xyz="-0.34724910567463385 -0.8853680000000002 -0.2866029991140471"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-11">
+			<origin xyz="-0.34724910567463385 -0.8853680000000002 -0.2866029991140471"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.34724910567463385 -0.8853680000000002 -0.2866029991140471"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.34724910567463385 -0.8853680000000002 -0.2866029991140471"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.34724910567463385 0.8853680000000002 0.2866029991140471"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="-0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_2">
+		<visual name="door_frame-8">
+			<origin xyz="-0.34724910567463385 -0.8853680000000002 -0.2866029991140471"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-9">
+			<origin xyz="-0.34724910567463385 -0.8853680000000002 -0.2866029991140471"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.34724910567463385 -0.8853680000000002 -0.2866029991140471"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="0.34724910567463385 0.8853680000000002 0.2866029991140471"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+		<limit lower="-0.0" upper="3.141592653589793"/>
+	</joint>
+</robot>
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+			<geometry>
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+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
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+[
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+{
+    "category": "Refrigerator",
+    "joints": [
+        "joint_1",
+        "joint_2"
+    ],
+    "descendants": {
+        "joint_0": [
+            "joint_1",
+            "joint_2"
+        ],
+        "joint_1": [],
+        "joint_2": []
+    }
+}
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+<?xml version="1.0" ?>
+<robot name="partnet_a44c2110f646309bc7fb1a0a584939a5">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="frame-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door_frame-10">
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-11">
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-13">
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-13">
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-13">
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-13">
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-13">
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-13">
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-13">
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-13">
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
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+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
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+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5543596224430867 -0.7725170000000001 -0.33093961184787113"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
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+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_2">
+		<visual name="door_frame-8">
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+			<geometry>
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+{
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+    "joints": [
+        "joint_0"
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+        "joint_1": [
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+			<geometry>
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+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.22 -0.245"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-1.5707963267948966" upper="0.9550441666912975"/>
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+		<child link="link_0"/>
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+			<geometry>
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+		<axis xyz="-0.9998474451424546 -6.300693990656867e-06 0.017466722715145537"/>
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diff --git a/PartNet/11550/joint_info.json b/PartNet/11550/joint_info.json
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--- /dev/null
+++ b/PartNet/11550/joint_info.json
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+[
+    {
+        "type": "revolute",
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diff --git a/PartNet/11550/joints.json b/PartNet/11550/joints.json
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--- /dev/null
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+{
+    "category": "Refrigerator",
+    "joints": [
+        "joint_0",
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [
+            "joint_0",
+            "joint_1"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/11550/mobility.urdf b/PartNet/11550/mobility.urdf
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--- /dev/null
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+<?xml version="1.0" ?>
+<robot name="partnet_d2e6ec26e414e9162759629bed6c4d54">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-27">
+			<origin xyz="0.2645960674861888 -0.7995729999999996 -0.2710535187684453"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-27">
+			<origin xyz="0.2645960674861888 -0.7995729999999996 -0.2710535187684453"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-34">
+			<origin xyz="0.2645960674861888 -0.7995729999999996 -0.2710535187684453"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2645960674861888 -0.7995729999999996 -0.2710535187684453"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.2645960674861888 -0.7995729999999996 -0.2710535187684453"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.2645960674861888 -0.7995729999999996 -0.2710535187684453"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.2645960674861888 0.7995729999999996 0.2710535187684453"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="-0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door_frame-35">
+			<origin xyz="0.2645960674861888 -0.7995729999999996 -0.2710535187684453"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-35">
+			<origin xyz="0.2645960674861888 -0.7995729999999996 -0.2710535187684453"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-36">
+			<origin xyz="0.2645960674861888 -0.7995729999999996 -0.2710535187684453"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2645960674861888 -0.7995729999999996 -0.2710535187684453"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.2645960674861888 -0.7995729999999996 -0.2710535187684453"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.2645960674861888 -0.7995729999999996 -0.2710535187684453"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.2645960674861888 0.7995729999999996 0.2710535187684453"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.0" upper="3.141592653589793"/>
+	</joint>
+	<link name="link_2">
+		<visual name="other_leaf-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="surface-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.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/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
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+				<mesh filename="textured_objs/original-9.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-8.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-10.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-11.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>
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diff --git a/PartNet/11712/joint_info.json b/PartNet/11712/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..63f32fe107244b905c104bd6cec6bbb758b27afe
--- /dev/null
+++ b/PartNet/11712/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            0.0,
+            1.5707963267948966
+        ],
+        "axis": {
+            "origin": [
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+            "direction": [
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+                1.0,
+                0.0
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+        }
+    }
+]
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diff --git a/PartNet/11712/joints.json b/PartNet/11712/joints.json
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--- /dev/null
+++ b/PartNet/11712/joints.json
@@ -0,0 +1,15 @@
+{
+    "category": "Refrigerator",
+    "joints": [
+        "joint_0",
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [
+            "joint_0",
+            "joint_1"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/11712/mobility.urdf b/PartNet/11712/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..11a43c865337cab10920690c8fecf6964aaaed5d
--- /dev/null
+++ b/PartNet/11712/mobility.urdf
@@ -0,0 +1,197 @@
+<?xml version="1.0" ?>
+<robot name="partnet_f7e0a103c97469d5a168e247bb97e471">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-21">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-22">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-22">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-22">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.3222042194546104 0.8713290095329285 0.3357881237454305"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door_frame-19">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-20">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-20">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-20">
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3222042194546104 -0.8713290095329285 -0.3357881237454305"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.3222042194546104 0.8713290095329285 0.3357881237454305"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_2">
+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shelf-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<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-2.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-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
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+{
+    "category": "Refrigerator",
+    "joints": [
+        "joint_0",
+        "joint_1"
+    ],
+    "descendants": {
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+        "joint_1": [],
+        "joint_2": [
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+        ]
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+	<link name="base"/>
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+		<visual name="door_frame-16">
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+			<geometry>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
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+	<link name="link_1">
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+			<geometry>
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+			<geometry>
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+		</visual>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
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+	</joint>
+	<link name="link_2">
+		<visual name="frame-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
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+		<child link="link_2"/>
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+	<link name="base"/>
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+			<geometry>
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+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
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+		<child link="link_0"/>
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+    "joints": [
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+	<link name="base"/>
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+		<visual name="door_frame-10">
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+			<geometry>
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+			</geometry>
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+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.34879218488171676 0.916216 0.2512854452924893"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
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+	</joint>
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+			<geometry>
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+			</geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
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+			</geometry>
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+			<geometry>
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+		</visual>
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+	</link>
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+		<child link="link_1"/>
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+    "category": "Dishwasher",
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+        "joint_2"
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+        "joint_1": [],
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index 0000000000000000000000000000000000000000..856351126ad29c76d7377872d1501d806fd99c99
--- /dev/null
+++ b/PartNet/12259/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
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+            1.5707963267948966
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+                0.0
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+]
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--- /dev/null
+++ b/PartNet/12259/joints.json
@@ -0,0 +1,12 @@
+{
+    "category": "Dishwasher",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ]
+    }
+}
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--- /dev/null
+++ b/PartNet/12259/mobility.urdf
@@ -0,0 +1,152 @@
+<?xml version="1.0" ?>
+<robot name="partnet_b0131610-1f11-41e1-9d9e-601fcae24b6d">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-7">
+			<origin xyz="0.48983699083328236 0.6435304224862124 -0.40042733598094365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-7">
+			<origin xyz="0.48983699083328236 0.6435304224862124 -0.40042733598094365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-7">
+			<origin xyz="0.48983699083328236 0.6435304224862124 -0.40042733598094365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-7">
+			<origin xyz="0.48983699083328236 0.6435304224862124 -0.40042733598094365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-7">
+			<origin xyz="0.48983699083328236 0.6435304224862124 -0.40042733598094365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-7">
+			<origin xyz="0.48983699083328236 0.6435304224862124 -0.40042733598094365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-7">
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+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-7">
+			<origin xyz="0.48983699083328236 0.6435304224862124 -0.40042733598094365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-8">
+			<origin xyz="0.48983699083328236 0.6435304224862124 -0.40042733598094365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.48983699083328236 0.6435304224862124 -0.40042733598094365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.48983699083328236 0.6435304224862124 -0.40042733598094365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.48983699083328236 0.6435304224862124 -0.40042733598094365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.48983699083328236 0.6435304224862124 -0.40042733598094365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.48983699083328236 0.6435304224862124 -0.40042733598094365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.48983699083328236 0.6435304224862124 -0.40042733598094365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.48983699083328236 0.6435304224862124 -0.40042733598094365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.48983699083328236 -0.6435304224862124 0.40042733598094365"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="surface-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<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-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
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index 0000000000000000000000000000000000000000..92ae4017065fd61555fa10789302ed534c42727e
--- /dev/null
+++ b/PartNet/12414/joint_info.json
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index 0000000000000000000000000000000000000000..d4883af47106028669bd67c76dea555a3bcc227a
--- /dev/null
+++ b/PartNet/12414/joints.json
@@ -0,0 +1,12 @@
+{
+    "category": "Dishwasher",
+    "joints": [
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [
+            "joint_1"
+        ],
+        "joint_1": []
+    }
+}
\ No newline at end of file
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--- /dev/null
+++ b/PartNet/12414/mobility.urdf
@@ -0,0 +1,620 @@
+<?xml version="1.0" ?>
+<robot name="partnet_uc96ccf13-0360-49f7-885b-0efdae244728">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="surface-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="surface-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<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-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door_frame-11">
+			<origin xyz="0.5259640216827393 -0.6891115305125183 0.5076302357203057"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-11">
+			<origin xyz="0.5259640216827393 -0.6891115305125183 0.5076302357203057"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-11">
+			<origin xyz="0.5259640216827393 -0.6891115305125183 0.5076302357203057"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-11">
+			<origin xyz="0.5259640216827393 -0.6891115305125183 0.5076302357203057"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-12">
+			<origin xyz="0.5259640216827393 -0.6891115305125183 0.5076302357203057"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-12">
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diff --git a/PartNet/12565/joints.json b/PartNet/12565/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4883af47106028669bd67c76dea555a3bcc227a
--- /dev/null
+++ b/PartNet/12565/joints.json
@@ -0,0 +1,12 @@
+{
+    "category": "Dishwasher",
+    "joints": [
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [
+            "joint_1"
+        ],
+        "joint_1": []
+    }
+}
\ No newline at end of file
diff --git a/PartNet/12565/mobility.urdf b/PartNet/12565/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5761255e86a9b19fc5d75533d3dfb697ea413f1d
--- /dev/null
+++ b/PartNet/12565/mobility.urdf
@@ -0,0 +1,128 @@
+<?xml version="1.0" ?>
+<robot name="partnet_a377f5af14ac6710a168e247bb97e471">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<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-1.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-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door_frame-4">
+			<origin xyz="0.40737900137901306 0.8015275051727643 -0.43266558462193727"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-4">
+			<origin xyz="0.40737900137901306 0.8015275051727643 -0.43266558462193727"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-4">
+			<origin xyz="0.40737900137901306 0.8015275051727643 -0.43266558462193727"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-5">
+			<origin xyz="0.40737900137901306 0.8015275051727643 -0.43266558462193727"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.40737900137901306 0.8015275051727643 -0.43266558462193727"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.40737900137901306 0.8015275051727643 -0.43266558462193727"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.40737900137901306 0.8015275051727643 -0.43266558462193727"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.40737900137901306 0.8015275051727643 -0.43266558462193727"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.40737900137901306 -0.8015275051727643 0.43266558462193727"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+</robot>
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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--- /dev/null
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new file mode 100644
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--- /dev/null
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new file mode 100644
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--- /dev/null
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diff --git a/PartNet/12580/gt_mesh/04.glb b/PartNet/12580/gt_mesh/04.glb
new file mode 100644
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diff --git a/PartNet/12580/gt_mesh/05.glb b/PartNet/12580/gt_mesh/05.glb
new file mode 100644
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--- /dev/null
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diff --git a/PartNet/12580/joint_info.json b/PartNet/12580/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bd26d5a130bd1a5176dac42104ce31dc0100288
--- /dev/null
+++ b/PartNet/12580/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            0.0,
+            1.5707963267948966
+        ],
+        "axis": {
+            "origin": [
+                0.43018229991022094,
+                -0.5741145070731458,
+                0.46810015978096486
+            ],
+            "direction": [
+                1.0,
+                0.0,
+                0.0
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/PartNet/12580/joints.json b/PartNet/12580/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f44da99635c4e7fd9dc22d88506fd1a8462792b
--- /dev/null
+++ b/PartNet/12580/joints.json
@@ -0,0 +1,12 @@
+{
+    "category": "Dishwasher",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/12580/mobility.urdf b/PartNet/12580/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..337152a2375eab70f3517e149f3d77f14fae800b
--- /dev/null
+++ b/PartNet/12580/mobility.urdf
@@ -0,0 +1,188 @@
+<?xml version="1.0" ?>
+<robot name="partnet_93b7c0394cc309c8df3a1b0d597ce76e">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-12">
+			<origin xyz="-0.43018229991022094 0.5741145070731458 -0.46810015978096486"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-12">
+			<origin xyz="-0.43018229991022094 0.5741145070731458 -0.46810015978096486"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-12">
+			<origin xyz="-0.43018229991022094 0.5741145070731458 -0.46810015978096486"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-12">
+			<origin xyz="-0.43018229991022094 0.5741145070731458 -0.46810015978096486"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-12">
+			<origin xyz="-0.43018229991022094 0.5741145070731458 -0.46810015978096486"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-13">
+			<origin xyz="-0.43018229991022094 0.5741145070731458 -0.46810015978096486"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-14">
+			<origin xyz="-0.43018229991022094 0.5741145070731458 -0.46810015978096486"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.43018229991022094 0.5741145070731458 -0.46810015978096486"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.43018229991022094 0.5741145070731458 -0.46810015978096486"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.43018229991022094 0.5741145070731458 -0.46810015978096486"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.43018229991022094 0.5741145070731458 -0.46810015978096486"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.43018229991022094 0.5741145070731458 -0.46810015978096486"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.43018229991022094 0.5741145070731458 -0.46810015978096486"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.43018229991022094 0.5741145070731458 -0.46810015978096486"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.43018229991022094 -0.5741145070731458 0.46810015978096486"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="frame-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="surface-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="surface-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
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new file mode 100644
index 0000000000000000000000000000000000000000..2d6ebd4b0610b74154de682c37a13019b927a7ab
--- /dev/null
+++ b/PartNet/12597/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            -0.0,
+            1.5707963267948966
+        ],
+        "axis": {
+            "origin": [
+                0.6578660000000003,
+                -0.2980411175850787,
+                0.5762172681832401
+            ],
+            "direction": [
+                1.0,
+                0.0,
+                0.0
+            ]
+        }
+    }
+]
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new file mode 100644
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--- /dev/null
+++ b/PartNet/12597/joints.json
@@ -0,0 +1,14 @@
+{
+    "category": "Dishwasher",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [
+            "joint_0",
+            "joint_1"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/12597/mobility.urdf b/PartNet/12597/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..838ccaa6593abe1f3f133b42e94248f92c23ca54
--- /dev/null
+++ b/PartNet/12597/mobility.urdf
@@ -0,0 +1,100 @@
+<?xml version="1.0" ?>
+<robot name="partnet_b132e38eab307f2649ad049dc6857ad1">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-27">
+			<origin xyz="-0.6578660000000003 0.2980411175850787 -0.5762172681832401"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-28">
+			<origin xyz="-0.6578660000000003 0.2980411175850787 -0.5762172681832401"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.6578660000000003 0.2980411175850787 -0.5762172681832401"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.6578660000000003 0.2980411175850787 -0.5762172681832401"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.6578660000000003 -0.2980411175850787 0.5762172681832401"/>
+		<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="control_button-24">
+			<origin xyz="-0.26985852300226404 0.4516419333982529 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.26985852300226404 0.4516419333982529 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.26985852300226404 -0.4516419333982529 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_2">
+		<visual name="frame-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_panel-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.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>
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index 0000000000000000000000000000000000000000..800cb54d61ca2ff98f14baeb2998deb78127019b
--- /dev/null
+++ b/PartNet/12605/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            0.0,
+            1.5707963267948966
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+        "axis": {
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new file mode 100644
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--- /dev/null
+++ b/PartNet/12605/joints.json
@@ -0,0 +1,12 @@
+{
+    "category": "Dishwasher",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ]
+    }
+}
\ No newline at end of file
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--- /dev/null
+++ b/PartNet/12605/mobility.urdf
@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<robot name="partnet_c5f76c9a4137a3563862b05b9038dcc">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-9">
+			<origin xyz="-0.5551870000000005 0.6092402352088112 -0.37356708251312937"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-9">
+			<origin xyz="-0.5551870000000005 0.6092402352088112 -0.37356708251312937"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-10">
+			<origin xyz="-0.5551870000000005 0.6092402352088112 -0.37356708251312937"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5551870000000005 0.6092402352088112 -0.37356708251312937"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5551870000000005 0.6092402352088112 -0.37356708251312937"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5551870000000005 0.6092402352088112 -0.37356708251312937"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.5551870000000005 -0.6092402352088112 0.37356708251312937"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="surface-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
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+{
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+    "joints": [
+        "joint_1"
+    ],
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+<?xml version="1.0" ?>
+<robot name="partnet_c6090fb2806b2abfa5f4a1f264741b67">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="frame-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door_frame-13">
+			<origin xyz="-0.4844919999999999 0.5654974489147149 -0.3878626761938106"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-14">
+			<origin xyz="-0.4844919999999999 0.5654974489147149 -0.3878626761938106"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4844919999999999 0.5654974489147149 -0.3878626761938106"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.4844919999999999 -0.5654974489147149 0.3878626761938106"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+</robot>
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--- /dev/null
+++ b/PartNet/12614/joint_info.json
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+[
+    {
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+            1.5707963267948966
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index 0000000000000000000000000000000000000000..d4883af47106028669bd67c76dea555a3bcc227a
--- /dev/null
+++ b/PartNet/12614/joints.json
@@ -0,0 +1,12 @@
+{
+    "category": "Dishwasher",
+    "joints": [
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [
+            "joint_1"
+        ],
+        "joint_1": []
+    }
+}
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index 0000000000000000000000000000000000000000..4d64076b677dd29eb3021175fafcbd69364c7318
--- /dev/null
+++ b/PartNet/12614/mobility.urdf
@@ -0,0 +1,140 @@
+<?xml version="1.0" ?>
+<robot name="partnet_cc8161b35f7bef958c88d30f502a452">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="frame-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
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+	<link name="link_1">
+		<visual name="door_frame-12">
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+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
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+		<visual name="door_frame-12">
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+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
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+		</visual>
+		<visual name="door_frame-12">
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+			<geometry>
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+		</visual>
+		<visual name="door_frame-12">
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+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
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+			<geometry>
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+			<geometry>
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+[
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+{
+    "category": "Table",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ]
+    }
+}
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+<?xml version="1.0" ?>
+<robot name="partnet_299ff1bf2618a4b584b039efed4b32d7">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="drawer_front-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="handle-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.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-30.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-31.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-7.obj"/>
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+		</collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
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+		<collision>
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+			<geometry>
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</collision>
+		<collision>
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+			<geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.4119999999999999"/>
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+	<link name="link_1">
+		<visual name="board-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="leg-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<visual name="leg-9">
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
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+		<collision>
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+				<mesh filename="textured_objs/original-14.obj"/>
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+		<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-4.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-3.obj"/>
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
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+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
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--- /dev/null
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+[
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--- /dev/null
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+{
+    "category": "Table",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ]
+    }
+}
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+<robot name="partnet_21227197948fd2857c2f94a943a8669b">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-100">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-101">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-105">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-106">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-107">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-98">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-99">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<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-5.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-2.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-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.512"/>
+	</joint>
+	<link name="link_1">
+		<visual name="board-104">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="board-104">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="board-104">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shelf-78">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shelf-78">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shelf-78">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-79">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-80">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-81">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
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+		</visual>
+		<visual name="leg-82">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-83">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-84">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bar_stretcher-85">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<origin xyz="0 0 0"/>
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+		<visual name="bar_stretcher-91">
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+	<joint name="joint_1" type="fixed">
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+		<child link="link_1"/>
+		<parent link="base"/>
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--- /dev/null
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+[
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--- /dev/null
+++ b/PartNet/20985/joints.json
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+{
+    "category": "Table",
+    "joints": [
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [
+            "joint_1"
+        ],
+        "joint_1": []
+    }
+}
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+<?xml version="1.0" ?>
+<robot name="partnet_2dc57230d14506eacd6ce29440b718cf">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="board-35">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bar_stretcher-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bar_stretcher-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bar_stretcher-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bar_stretcher-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tabletop_connector-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tabletop_connector-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tabletop_connector-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tabletop_connector-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.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-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
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+		<collision>
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+			<geometry>
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+			<geometry>
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+		<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-9.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-21.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-19.obj"/>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
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+	<link name="base"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
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+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.3058252822582951 0.18406416344834303 -0.2449249999999994"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="board-16">
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+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.4127133230581761 0.16536374127677872 -0.2449249999999994"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
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+	</joint>
+	<link name="link_2">
+		<visual name="drawer_front-39">
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+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
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+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
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+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
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+			</geometry>
+		</visual>
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+			<geometry>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
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+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.4127133230581761 0.16536374127677872 -0.2449249999999994"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
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+	</joint>
+	<link name="link_3">
+		<visual name="board-17">
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+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
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+        "joint_0"
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+		<visual name="drawer_front-39">
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+			<geometry>
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+		</visual>
+		<visual name="drawer_side-40">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-43">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+				<mesh filename="textured_objs/new-3.obj"/>
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+		</collision>
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+			<geometry>
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+		<collision>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</collision>
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+		</collision>
+		<collision>
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+				<mesh filename="textured_objs/new-4.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.8199999999999998"/>
+	</joint>
+	<link name="link_1">
+		<visual name="board-45">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tabletop_connector-18">
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+			</geometry>
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+				<mesh filename="textured_objs/original-11.obj"/>
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+		<visual name="bar_stretcher-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="bar_stretcher-26">
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+			</geometry>
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+			</geometry>
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+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
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+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
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+				<mesh filename="textured_objs/original-12.obj"/>
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+		<collision>
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+				<mesh filename="textured_objs/original-21.obj"/>
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+		</collision>
+		<collision>
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+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
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+		<collision>
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+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
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+			</geometry>
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
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+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
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+			<origin xyz="0 0 0"/>
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+			<geometry>
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+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
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new file mode 100644
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--- /dev/null
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+[
+    {
+        "type": "prismatic",
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+            0.512
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--- /dev/null
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@@ -0,0 +1,12 @@
+{
+    "category": "Table",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ]
+    }
+}
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diff --git a/PartNet/26525/mobility.urdf b/PartNet/26525/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_9e42bbdbfe36680391e4d6c585a697a">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-35">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<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-7.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-5.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-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.512"/>
+	</joint>
+	<link name="link_1">
+		<visual name="board-44">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shelf-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shelf-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shelf-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
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+    "joints": [
+        "joint_1",
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index 0000000000000000000000000000000000000000..dde7946b0ccf99cf380d356b67e82a06f744e918
--- /dev/null
+++ b/PartNet/28668/mobility.urdf
@@ -0,0 +1,680 @@
+<?xml version="1.0" ?>
+<robot name="partnet_c9857deb88989a67b5851007eadc6f74">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<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-5.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-11.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-8.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-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.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-18.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>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.17599999999999993" upper="0.4119999999999999"/>
+	</joint>
+	<link name="link_1">
+		<visual name="board-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bar_stretcher-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bar_stretcher-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bar_stretcher-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bar_stretcher-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bar_stretcher-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bar_stretcher-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bar_stretcher-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bar_stretcher-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.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-57.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-51.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-54.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-38.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>
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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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+			</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-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.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-28.obj"/>
+			</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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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</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-60.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>
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
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+		</collision>
+		<collision>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
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+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
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+		</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-46.obj"/>
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+		</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-43.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-41.obj"/>
+			</geometry>
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+{
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+        "joint_1": [],
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+        "joint_3": [
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+<?xml version="1.0" ?>
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+		<visual name="drawer_front-34">
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+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="drawer_side-35">
+			<origin xyz="0 0 0"/>
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+			</geometry>
+		</visual>
+		<visual name="drawer_side-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-38">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
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+		</collision>
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+			<geometry>
+				<mesh filename="textured_objs/new-20.obj"/>
+			</geometry>
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+		<collision>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.544"/>
+	</joint>
+	<link name="link_1">
+		<visual name="drawer_front-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
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+		</collision>
+		<collision>
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+		</collision>
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+			<geometry>
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+{
+    "category": "Table",
+    "joints": [
+        "joint_1",
+        "joint_2"
+    ],
+    "descendants": {
+        "joint_0": [
+            "joint_1",
+            "joint_2"
+        ],
+        "joint_1": [],
+        "joint_2": []
+    }
+}
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+<robot name="partnet_5533c35223061f231ff2429be93a82ac">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="board-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="board-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_front_panel-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-56">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-57">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-47">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_rails-48">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.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-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.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-9.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-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-46">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
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+		</visual>
+		<visual name="drawer_front-49">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-50">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-52">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-53">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
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+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/new-9.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_0"/>
+		<limit lower="0" upper="0.45199999999999996"/>
+	</joint>
+	<link name="link_2">
+		<visual name="handle-55">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-60">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-61">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-62">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-13.obj"/>
+			</geometry>
+		</visual>
+		<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-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-11.obj"/>
+			</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>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.42799999999999994"/>
+	</joint>
+</robot>
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diff --git a/PartNet/32174/joint_info.json b/PartNet/32174/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..653b700dcd8abd051bac46860b5887bceece9d22
--- /dev/null
+++ b/PartNet/32174/joint_info.json
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+[
+    {
+        "type": "prismatic",
+        "range": [
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+        "axis": {
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diff --git a/PartNet/32174/joints.json b/PartNet/32174/joints.json
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--- /dev/null
+++ b/PartNet/32174/joints.json
@@ -0,0 +1,14 @@
+{
+    "category": "Table",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [
+            "joint_0",
+            "joint_1"
+        ]
+    }
+}
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diff --git a/PartNet/32174/mobility.urdf b/PartNet/32174/mobility.urdf
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--- /dev/null
+++ b/PartNet/32174/mobility.urdf
@@ -0,0 +1,209 @@
+<?xml version="1.0" ?>
+<robot name="partnet_38ef005583b3cfd955357c338ec9641">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.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/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.476"/>
+	</joint>
+	<link name="link_1">
+		<visual name="cabinet_door_surface-19">
+			<origin xyz="-0.5897235178238005 0.3438710000000005 -0.31201216783017105"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-20">
+			<origin xyz="-0.5897235178238005 0.3438710000000005 -0.31201216783017105"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5897235178238005 0.3438710000000005 -0.31201216783017105"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5897235178238005 0.3438710000000005 -0.31201216783017105"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.5897235178238005 -0.3438710000000005 0.31201216783017105"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_2">
+		<visual name="board-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<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-4.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-5.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-10.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>
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+[
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+{
+    "category": "StorageFurniture",
+    "joints": [
+        "joint_0",
+        "joint_1",
+        "joint_2"
+    ],
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+        "joint_1": [],
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+        "joint_3": [
+            "joint_0",
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+		<visual name="drawer_front-23">
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+		</visual>
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+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="drawer_side-24">
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+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="-0.005183818093392495 -0.1600198556111904 -0.56632399559021"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-27">
+			<origin xyz="-0.005183818093392495 -0.1600198556111904 -0.56632399559021"/>
+			<geometry>
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+		</visual>
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+		</visual>
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+			</geometry>
+		</collision>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
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+		<collision>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
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+    "joints": [
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+			<geometry>
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+			</geometry>
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+			<geometry>
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+			</geometry>
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+			</geometry>
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+			<geometry>
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+		</visual>
+		<visual name="vertical_side_panel-7">
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
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+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="bottom_panel-9">
+			<origin xyz="0 0 0"/>
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+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="0 0 0"/>
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+			</geometry>
+		</visual>
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+			<geometry>
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+		</visual>
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+			<geometry>
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+				<mesh filename="textured_objs/original-13.obj"/>
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+			<geometry>
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+	</link>
+	<joint name="joint_0" type="fixed">
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+		<child link="link_0"/>
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+{
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+    ],
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+	<link name="base"/>
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+		<visual name="cabinet_door_surface-31">
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+			<geometry>
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+			</geometry>
+		</visual>
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+    "joints": [
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+		<visual name="vertical_side_panel-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-35">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
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+		<visual name="bottom_panel-35">
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+			</geometry>
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+		<visual name="top_panel-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<visual name="frame_horizontal_bar-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+			<geometry>
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+			<geometry>
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+		</collision>
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+				<mesh filename="textured_objs/original-10.obj"/>
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+		</collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<geometry>
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+{
+    "category": "StorageFurniture",
+    "joints": [
+        "joint_0",
+        "joint_1",
+        "joint_2"
+    ],
+    "descendants": {
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+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [
+            "joint_0",
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+            "joint_2"
+        ]
+    }
+}
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diff --git a/PartNet/47183/mobility.urdf b/PartNet/47183/mobility.urdf
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+<?xml version="1.0" ?>
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+    "joints": [
+        "joint_1"
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+		<visual name="cabinet_door_surface-13">
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+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="cabinet_door_surface-13">
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+			<geometry>
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+			<geometry>
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+			</geometry>
+		</visual>
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+			<geometry>
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+		</visual>
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+		</visual>
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+			<geometry>
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+		</visual>
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+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
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+		<axis xyz="0 0 1"/>
+		<child link="link_3"/>
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+		<child link="link_5"/>
+		<parent link="base"/>
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+[
+    {
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diff --git a/PartNet/7130/joints.json b/PartNet/7130/joints.json
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+{
+    "category": "Oven",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ]
+    }
+}
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diff --git a/PartNet/7130/mobility.urdf b/PartNet/7130/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_e1e2879a951cac7b178e7d331e641179">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-14">
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+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-14">
+			<origin xyz="-0.6561630000000003 0.49994172702683537 -0.5806258643941842"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-14">
+			<origin xyz="-0.6561630000000003 0.49994172702683537 -0.5806258643941842"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-14">
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+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
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+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/7167/mobility.urdf b/PartNet/7167/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bad16f0ac046c516d0f65a36bdd30f7ddf4d59ce
--- /dev/null
+++ b/PartNet/7167/mobility.urdf
@@ -0,0 +1,192 @@
+<?xml version="1.0" ?>
+<robot name="partnet_dc5c91c8c01b1c8c506c648223cdabe9">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-13">
+			<origin xyz="0.7225216712570703 -0.4353150000000001 -0.4223766322779752"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="glass-14">
+			<origin xyz="0.7225216712570703 -0.4353150000000001 -0.4223766322779752"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-15">
+			<origin xyz="0.7225216712570703 -0.4353150000000001 -0.4223766322779752"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-15">
+			<origin xyz="0.7225216712570703 -0.4353150000000001 -0.4223766322779752"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-15">
+			<origin xyz="0.7225216712570703 -0.4353150000000001 -0.4223766322779752"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.7225216712570703 -0.4353150000000001 -0.4223766322779752"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7225216712570703 -0.4353150000000001 -0.4223766322779752"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7225216712570703 -0.4353150000000001 -0.4223766322779752"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7225216712570703 -0.4353150000000001 -0.4223766322779752"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.7225216712570703 -0.4353150000000001 -0.4223766322779752"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.7225216712570703 0.4353150000000001 0.4223766322779752"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="control_button-11">
+			<origin xyz="-0.62927375371293 0.11302417350872418 -0.5762653086208114"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.62927375371293 0.11302417350872418 -0.5762653086208114"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.62927375371293 -0.11302417350872418 0.5762653086208114"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_2">
+		<visual name="control_button-12">
+			<origin xyz="-0.6277137567347879 -0.1563726761075232 -0.573779996412259"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.6277137567347879 -0.1563726761075232 -0.573779996412259"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.6277137567347879 0.1563726761075232 0.573779996412259"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_3">
+		<visual name="frame-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
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diff --git a/PartNet/7179/joint_info.json b/PartNet/7179/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef39e693402f7ed86493f9185df62f88a38557b6
--- /dev/null
+++ b/PartNet/7179/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            -0.0,
+            1.5707963267948966
+        ],
+        "axis": {
+            "origin": [
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+]
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diff --git a/PartNet/7179/joints.json b/PartNet/7179/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b08c77aa9d9925571756424475aa3a4c001c4b8
--- /dev/null
+++ b/PartNet/7179/joints.json
@@ -0,0 +1,21 @@
+{
+    "category": "Oven",
+    "joints": [
+        "joint_3",
+        "joint_4"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
+        "joint_5": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/7179/mobility.urdf b/PartNet/7179/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d990f561d768a14a6e436743663e8de724da636f
--- /dev/null
+++ b/PartNet/7179/mobility.urdf
@@ -0,0 +1,1040 @@
+<?xml version="1.0" ?>
+<robot name="partnet_33aeb6c217d9cf7e178e7d331e641179">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tray-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
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+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<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-31.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-30.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-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
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new file mode 100644
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diff --git a/PartNet/7263/gt_mesh/05.glb b/PartNet/7263/gt_mesh/05.glb
new file mode 100644
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diff --git a/PartNet/7263/joint_info.json b/PartNet/7263/joint_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..33384ecb85b8f2d84e7985faf26563344986cc51
--- /dev/null
+++ b/PartNet/7263/joint_info.json
@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            -0.0,
+            1.5707963267948966
+        ],
+        "axis": {
+            "origin": [
+                -0.8040978092034378,
+                0.4571359999999993,
+                0.36598974550729024
+            ],
+            "direction": [
+                0.0,
+                -1.0,
+                0.0
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/PartNet/7263/joints.json b/PartNet/7263/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6480557ae67a77db52d4af108568970865e737c
--- /dev/null
+++ b/PartNet/7263/joints.json
@@ -0,0 +1,48 @@
+{
+    "category": "Microwave",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [],
+        "joint_4": [],
+        "joint_5": [],
+        "joint_6": [],
+        "joint_7": [],
+        "joint_8": [],
+        "joint_9": [],
+        "joint_10": [],
+        "joint_11": [],
+        "joint_12": [],
+        "joint_13": [],
+        "joint_14": [],
+        "joint_15": [],
+        "joint_16": [],
+        "joint_17": [],
+        "joint_18": [],
+        "joint_19": [
+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8",
+            "joint_9",
+            "joint_10",
+            "joint_11",
+            "joint_12",
+            "joint_13",
+            "joint_14",
+            "joint_15",
+            "joint_16",
+            "joint_17",
+            "joint_18"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/7263/mobility.urdf b/PartNet/7263/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..13286833296228aff738902c200b4e6cc5a08b6c
--- /dev/null
+++ b/PartNet/7263/mobility.urdf
@@ -0,0 +1,494 @@
+<?xml version="1.0" ?>
+<robot name="partnet_87bae84777fe8b702bac1bcdfc2402d2">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-27">
+			<origin xyz="0.8040978092034378 -0.4571359999999993 -0.36598974550729024"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="glass-28">
+			<origin xyz="0.8040978092034378 -0.4571359999999993 -0.36598974550729024"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-29">
+			<origin xyz="0.8040978092034378 -0.4571359999999993 -0.36598974550729024"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.8040978092034378 -0.4571359999999993 -0.36598974550729024"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.8040978092034378 -0.4571359999999993 -0.36598974550729024"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.8040978092034378 -0.4571359999999993 -0.36598974550729024"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.8040978092034378 0.4571359999999993 0.36598974550729024"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_19"/>
+		<limit lower="-0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="control_button-8">
+			<origin xyz="-0.7917796010891323 0.14215177147656233 -0.3672469999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.7917796010891323 0.14215177147656233 -0.3672469999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.7917796010891323 -0.14215177147656233 0.3672469999999999"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.025"/>
+	</joint>
+	<link name="link_2">
+		<visual name="control_button-9">
+			<origin xyz="-0.7917796010891323 0.14215177147656233 -0.3672469999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.7917796010891323 0.14215177147656233 -0.3672469999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.7917796010891323 -0.14215177147656233 0.3672469999999999"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.025"/>
+	</joint>
+	<link name="link_3">
+		<visual name="control_button-10">
+			<origin xyz="-0.7917796010891323 0.14215177147656233 -0.3672469999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.7917796010891323 0.14215177147656233 -0.3672469999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.7917796010891323 -0.14215177147656233 0.3672469999999999"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_3"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.025"/>
+	</joint>
+	<link name="link_4">
+		<visual name="control_button-11">
+			<origin xyz="-0.7917796010891323 0.14215177147656233 -0.3672469999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.7917796010891323 0.14215177147656233 -0.3672469999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.7917796010891323 -0.14215177147656233 0.3672469999999999"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_4"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.025"/>
+	</joint>
+	<link name="link_5">
+		<visual name="control_button-12">
+			<origin xyz="-0.7917796010891323 0.14215177147656233 -0.3672469999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.7917796010891323 0.14215177147656233 -0.3672469999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0.7917796010891323 -0.14215177147656233 0.3672469999999999"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_5"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.025"/>
+	</joint>
+	<link name="link_6">
+		<visual name="control_button-13">
+			<origin xyz="-0.7917796010891323 0.14215177147656233 -0.3672469999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.7917796010891323 0.14215177147656233 -0.3672469999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="0.7917796010891323 -0.14215177147656233 0.3672469999999999"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_6"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.025"/>
+	</joint>
+	<link name="link_7">
+		<visual name="control_button-14">
+			<origin xyz="-0.7917796010891323 0.14215177147656233 -0.3672469999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.7917796010891323 0.14215177147656233 -0.3672469999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="0.7917796010891323 -0.14215177147656233 0.3672469999999999"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_7"/>
+		<parent link="link_19"/>
+		<limit lower="0" upper="0.025"/>
+	</joint>
+	<link name="link_8">
+		<visual name="control_button-15">
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+			<geometry>
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+			</geometry>
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+		<child link="link_19"/>
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+[
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+{
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+            "joint_0",
+            "joint_1",
+            "joint_2",
+            "joint_3",
+            "joint_4",
+            "joint_5",
+            "joint_6",
+            "joint_7",
+            "joint_8",
+            "joint_9",
+            "joint_10",
+            "joint_11",
+            "joint_12",
+            "joint_13",
+            "joint_14",
+            "joint_15",
+            "joint_16",
+            "joint_17",
+            "joint_18",
+            "joint_19"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/7265/mobility.urdf b/PartNet/7265/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0e437dfe4be7f04b093916b954e03c9a4c812f35
--- /dev/null
+++ b/PartNet/7265/mobility.urdf
@@ -0,0 +1,802 @@
+<?xml version="1.0" ?>
+<robot name="partnet_891f65c773939191c834958aed613724">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-30">
+			<origin xyz="0.6187850466966622 0 -0.35921808895468765"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="glass-31">
+			<origin xyz="0.6187850466966622 0 -0.35921808895468765"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="hinge-32">
+			<origin xyz="0.6187850466966622 0 -0.35921808895468765"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="hinge-33">
+			<origin xyz="0.6187850466966622 0 -0.35921808895468765"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.6187850466966622 0 -0.35921808895468765"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6187850466966622 0 -0.35921808895468765"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6187850466966622 0 -0.35921808895468765"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6187850466966622 0 -0.35921808895468765"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.6187850466966622 0 0.35921808895468765"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_20"/>
+		<limit lower="-0.5235987755982988" upper="1.3962634015954636"/>
+	</joint>
+	<link name="link_1">
+		<visual name="control_button-11">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-11">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_1"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_2">
+		<visual name="control_button-12">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-12">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_2"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_3">
+		<visual name="control_button-13">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-13">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_3"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_4">
+		<visual name="control_button-14">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-14">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_4"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_5">
+		<visual name="control_button-15">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-15">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_5"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_6">
+		<visual name="control_button-16">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-16">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_6"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_7">
+		<visual name="control_button-17">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-17">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_7"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_8">
+		<visual name="control_button-18">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-18">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_8"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_9">
+		<visual name="control_button-19">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-19">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_9"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_10">
+		<visual name="control_button-20">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-20">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_10"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_11">
+		<visual name="control_button-21">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-21">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_11"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_12">
+		<visual name="control_button-22">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-22">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_12"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_13">
+		<visual name="control_button-23">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-23">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_13"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_14">
+		<visual name="control_button-24">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-24">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_14"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_15">
+		<visual name="control_button-25">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-25">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="0 0 -0.9999999999999999"/>
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+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
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+		<visual name="control_button-26">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_16"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_17">
+		<visual name="control_button-27">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-27">
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+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_17"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_18">
+		<visual name="control_button-28">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-28">
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
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+			<origin xyz="-0.5418822341555136 0.229069698639082 -0.45578399999999974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="prismatic">
+		<origin xyz="0.5418822341555136 -0.229069698639082 0.45578399999999974"/>
+		<axis xyz="0 0 -0.9999999999999999"/>
+		<child link="link_18"/>
+		<parent link="link_20"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_19">
+		<visual name="tray-36">
+			<origin xyz="0.111487 0 0.05183952446707299"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_19" type="continuous">
+		<origin xyz="-0.111487 0 -0.05183952446707299"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_19"/>
+		<parent link="link_20"/>
+	</joint>
+	<link name="link_20">
+		<visual name="display_panel-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="foot-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
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+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			</geometry>
+		</collision>
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+				<mesh filename="textured_objs/original-51.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"/>
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+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_20" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_20"/>
+		<parent link="base"/>
+	</joint>
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diff --git a/PartNet/7273/joint_info.json b/PartNet/7273/joint_info.json
new file mode 100644
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--- /dev/null
+++ b/PartNet/7273/joint_info.json
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+[
+    {
+        "type": "revolute",
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\ No newline at end of file
diff --git a/PartNet/7273/joints.json b/PartNet/7273/joints.json
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--- /dev/null
+++ b/PartNet/7273/joints.json
@@ -0,0 +1,16 @@
+{
+    "category": "Microwave",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [
+            "joint_0",
+            "joint_1",
+            "joint_2"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/7273/mobility.urdf b/PartNet/7273/mobility.urdf
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--- /dev/null
+++ b/PartNet/7273/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_95bc6fb98624ea3229d75ea275a1cb4e">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-16">
+			<origin xyz="-0.7790369987487793 0.26448509051760233 -0.39998197661063867"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-16">
+			<origin xyz="-0.7790369987487793 0.26448509051760233 -0.39998197661063867"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-16">
+			<origin xyz="-0.7790369987487793 0.26448509051760233 -0.39998197661063867"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-16">
+			<origin xyz="-0.7790369987487793 0.26448509051760233 -0.39998197661063867"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="glass-17">
+			<origin xyz="-0.7790369987487793 0.26448509051760233 -0.39998197661063867"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.7790369987487793 0.26448509051760233 -0.39998197661063867"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.7790369987487793 0.26448509051760233 -0.39998197661063867"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
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+			<origin xyz="-0.7790369987487793 0.26448509051760233 -0.39998197661063867"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.7790369987487793 0.26448509051760233 -0.39998197661063867"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.7790369987487793 -0.26448509051760233 0.39998197661063867"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="control_button-9">
+			<origin xyz="0.3010604613555175 0.40193595354091266 -0.4624199867248535"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3010604613555175 0.40193595354091266 -0.4624199867248535"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.3010604613555175 -0.40193595354091266 0.4624199867248535"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_2">
+		<visual name="control_button-10">
+			<origin xyz="-0.2990942989371162 0.40305538184674927 -0.4624199867248535"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2990942989371162 0.40305538184674927 -0.4624199867248535"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.2990942989371162 -0.40305538184674927 0.4624199867248535"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_3">
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="indicator-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="indicator-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="indicator-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="indicator-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.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-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.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-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
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diff --git a/PartNet/7290/joint_info.json b/PartNet/7290/joint_info.json
new file mode 100644
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--- /dev/null
+++ b/PartNet/7290/joint_info.json
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+[
+    {
+        "type": "revolute",
+        "range": [
+            0.0,
+            1.5707963267948966
+        ],
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+            "origin": [
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+                1.0,
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+    }
+]
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diff --git a/PartNet/7290/joints.json b/PartNet/7290/joints.json
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--- /dev/null
+++ b/PartNet/7290/joints.json
@@ -0,0 +1,12 @@
+{
+    "category": "Oven",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/7290/mobility.urdf b/PartNet/7290/mobility.urdf
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--- /dev/null
+++ b/PartNet/7290/mobility.urdf
@@ -0,0 +1,92 @@
+<?xml version="1.0" ?>
+<robot name="partnet_b8cf469bc1b42ab64a44340bf227e40">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-6">
+			<origin xyz="0.6867020130157472 0.41468832893905444 -0.48474770681800977"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="glass-7">
+			<origin xyz="0.6867020130157472 0.41468832893905444 -0.48474770681800977"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-8">
+			<origin xyz="0.6867020130157472 0.41468832893905444 -0.48474770681800977"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.6867020130157472 0.41468832893905444 -0.48474770681800977"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6867020130157472 0.41468832893905444 -0.48474770681800977"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.6867020130157472 0.41468832893905444 -0.48474770681800977"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.6867020130157472 -0.41468832893905444 0.48474770681800977"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<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-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
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+[
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+    "joints": [
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+    "descendants": {
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+        "joint_1": [],
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+        "joint_3": [
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+	<link name="base"/>
+	<link name="link_0">
+		<visual name="tray-25">
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+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.025444607839528954 0.5448650121688843 -0.06190252020474296"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door_frame-11">
+			<origin xyz="0.6241578416021474 0.48033899068832375 -0.46202588951920875"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-11">
+			<origin xyz="0.6241578416021474 0.48033899068832375 -0.46202588951920875"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="glass-12">
+			<origin xyz="0.6241578416021474 0.48033899068832375 -0.46202588951920875"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
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+		</collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.6241578416021474 -0.48033899068832375 0.46202588951920875"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_2">
+		<visual name="control_button-13">
+			<origin xyz="-0.5966922340006632 0.004540807810886949 -0.571964979171753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-13">
+			<origin xyz="-0.5966922340006632 0.004540807810886949 -0.571964979171753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5966922340006632 0.004540807810886949 -0.571964979171753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5966922340006632 0.004540807810886949 -0.571964979171753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.5966922340006632 -0.004540807810886949 0.571964979171753"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_3">
+		<visual name="frame-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
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+		<visual name="frame-8">
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+			<geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<visual name="frame-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
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+		<visual name="frame-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="frame-8">
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+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
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+			<geometry>
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+			<geometry>
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+		<visual name="foot-4">
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+			<geometry>
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+		<visual name="foot-4">
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+			<geometry>
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+			<geometry>
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+		<visual name="foot-6">
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+			<geometry>
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--- /dev/null
+++ b/PartNet/7306/joint_info.json
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+[
+    {
+        "type": "revolute",
+        "range": [
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+            1.5707963267948966
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+]
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--- /dev/null
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+{
+    "category": "Microwave",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
+        ]
+    }
+}
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+<?xml version="1.0" ?>
+<robot name="partnet_479af1fbc8399fe47608168119193cbf">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-12">
+			<origin xyz="-0.626763 0.4018011541083554 -0.35466613379448075"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="glass-13">
+			<origin xyz="-0.626763 0.4018011541083554 -0.35466613379448075"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.626763 0.4018011541083554 -0.35466613379448075"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.626763 0.4018011541083554 -0.35466613379448075"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.626763 -0.4018011541083554 0.35466613379448075"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="control_button-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
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--- /dev/null
+++ b/PartNet/7320/joint_info.json
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+[
+    {
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--- /dev/null
+++ b/PartNet/7320/joints.json
@@ -0,0 +1,12 @@
+{
+    "category": "Microwave",
+    "joints": [
+        "joint_0"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [
+            "joint_0"
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+}
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--- /dev/null
+++ b/PartNet/7320/mobility.urdf
@@ -0,0 +1,380 @@
+<?xml version="1.0" ?>
+<robot name="partnet_c5d13a109a61060c178e7d331e641179">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-5">
+			<origin xyz="0.7663123617888119 -0.4711569999999998 -0.39380938953471023"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="glass-6">
+			<origin xyz="0.7663123617888119 -0.4711569999999998 -0.39380938953471023"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="glass-6">
+			<origin xyz="0.7663123617888119 -0.4711569999999998 -0.39380938953471023"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="glass-6">
+			<origin xyz="0.7663123617888119 -0.4711569999999998 -0.39380938953471023"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
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@@ -0,0 +1,21 @@
+[
+    {
+        "type": "revolute",
+        "range": [
+            -0.0,
+            1.5707963267948966
+        ],
+        "axis": {
+            "origin": [
+                -0.640052743408965,
+                0.4230260000000001,
+                0.4552085633592764
+            ],
+            "direction": [
+                0.0,
+                -1.0,
+                0.0
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/PartNet/7366/joints.json b/PartNet/7366/joints.json
new file mode 100644
index 0000000000000000000000000000000000000000..93fcbdd6fffc47672efe3e58bee81fbf462df9a4
--- /dev/null
+++ b/PartNet/7366/joints.json
@@ -0,0 +1,16 @@
+{
+    "category": "Microwave",
+    "joints": [
+        "joint_1"
+    ],
+    "descendants": {
+        "joint_0": [],
+        "joint_1": [],
+        "joint_2": [],
+        "joint_3": [
+            "joint_0",
+            "joint_1",
+            "joint_2"
+        ]
+    }
+}
\ No newline at end of file
diff --git a/PartNet/7366/mobility.urdf b/PartNet/7366/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ae90d3c65db5d488d47ce73c14db018c02a572ff
--- /dev/null
+++ b/PartNet/7366/mobility.urdf
@@ -0,0 +1,577 @@
+<?xml version="1.0" ?>
+<robot name="partnet_f9544effad178100be92f74d81ff60bf">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="tray-10">
+			<origin xyz="0.1305357137322426 0 0.12886700648814442"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.1305357137322426 0 0.12886700648814442"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.1305357137322426 0 -0.12886700648814442"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_1">
+		<visual name="door_frame-6">
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-6">
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-6">
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-6">
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-6">
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-6">
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-6">
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-6">
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-6">
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="glass-7">
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.640052743408965 -0.4230260000000001 -0.4552085633592764"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.640052743408965 0.4230260000000001 0.4552085633592764"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+		<limit lower="-0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_2">
+		<visual name="door_button-8">
+			<origin xyz="-0.5375718424435267 0.401042049013346 -0.45536900000000013"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5375718424435267 0.401042049013346 -0.45536900000000013"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.5375718424435267 -0.401042049013346 0.45536900000000013"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.008"/>
+	</joint>
+	<link name="link_3">
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="display_panel-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.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-18.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-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.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-33.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-34.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-38.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-22.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-47.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-42.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-46.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-16.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-55.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-50.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-53.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-52.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/PartNet/9748/00_pure.png b/PartNet/9748/00_pure.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a1555b97339e5302756c53471a841fe748f2e63
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