Add files using upload-large-folder tool

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@@ -610,3 +610,4 @@ TrainSuite/cabinet_suite/StorageFurniture-47089-link_3-handle_9-joint_3-handlejo
 TrainSuite/cabinet_suite/StorageFurniture-45092-link_2-handle_2-joint_2-handlejoint_2/mobility_new.usd filter=lfs diff=lfs merge=lfs -text
 TrainSuite/cabinet_suite/StorageFurniture-44962-link_1-handle_1-joint_1-handlejoint_1/mobility_new.usd filter=lfs diff=lfs merge=lfs -text
 TrainSuite/cabinet_suite/StorageFurniture-46762-link_3-handle_9-joint_3-handlejoint_9/mobility_new.usd filter=lfs diff=lfs merge=lfs -text
+TrainSuite/cabinet_suite/StorageFurniture-46130-link_1-handle_2_1-joint_1-handlejoint_2_1/mobility_new.usd filter=lfs diff=lfs merge=lfs -text

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/.asset_hash

@@ -0,0 +1 @@
+4680f1862a925ee66182afc040e0612e

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/bbox_info.json

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TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/config.yaml

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+asset_path: /pkgs/IsaacLabCurobo/Assets/PartManip/drawer/train/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/mobility_new.urdf
+usd_dir: /pkgs/IsaacLabCurobo/Assets/PartManip/drawer/train/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5
+usd_file_name: mobility_new.usd
+force_usd_conversion: true
+make_instanceable: false
+import_inertia_tensor: true
+fix_base: true
+merge_fixed_joints: false
+self_collision: false
+default_drive_type: none
+override_joint_dynamics: false
+default_drive_stiffness: 0.0
+default_drive_damping: 0.0
+link_density: 0.0
+convex_decompose_mesh: false
+##
+# Generated by UrdfConverter on 2025-08-22 at 09:13:59.
+##

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/meta.json

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+{"model_id": "2e4184763139ff274da5feafe6f1c8fc", "anno_id": "45710", "user_id": "face++wwjing", "time_in_sec": "535", "version": "2", "model_cat": "StorageFurniture"}

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/mobility.urdf

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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.006549926921868815 0.3782072034638172 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.006549926921868815 -0.3782072034638172 -0.4944419860839846"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_4"/>
+		<limit lower="0" upper="0.7999999999999998"/>
+	</joint>
+	<link name="link_3">
+		<visual name="drawer_front-33">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-129.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-33">
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+			<geometry>
+				<mesh filename="textured_objs/original-128.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-33">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-125.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-33">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-134.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-33">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-131.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-33">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-127.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-33">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-132.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-33">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-130.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-33">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-126.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-33">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-135.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-33">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-117.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-34">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-116.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_side-35">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-121.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_back-36">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-122.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-37">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-120.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_bottom-37">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-39">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-32">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-142.obj"/>
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+		</visual>
+		<visual name="handle-32">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-141.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-32">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-143.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-32">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-139.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-32">
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-138.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-129.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-128.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-125.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-134.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-131.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-127.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-132.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-130.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-126.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-135.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-117.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-116.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-121.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-122.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-120.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-142.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-141.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-143.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-139.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-138.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.020994513303207882 0.0012346004278181305 -0.4944419860839846"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+		<limit lower="0" upper="0.7639999999999998"/>
+	</joint>
+	<link name="link_4">
+		<visual name="vertical_side_panel-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-55">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-55">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-56">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-57">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-57">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-58">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-59">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-60">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-61">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-62">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-63">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-64">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-65">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-66">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-68">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-144.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-50">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-52">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-53">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.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-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-144.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-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/mobility_relabel.urdf

@@ -0,0 +1,1355 @@
+<?xml version="1.0" ?>
+<robot name="partnet_2e4184763139ff274da5feafe6f1c8fc">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="drawer_front-20">
+			<origin xyz="0.007094012744034983 -0.2428239049301521 -0.545041024684906"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</visual>
+		<visual name="drawer_front-20">
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+				<mesh filename="textured_objs/original-121.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-122.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-120.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-142.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-141.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-143.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-139.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.020994513303207882 -0.0012346004278181305 0.4944419860839846"/>
+			<geometry>
+				<mesh filename="textured_objs/original-138.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.020994513303207882 0.0012346004278181305 -0.4944419860839846"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+		<limit lower="0" upper="0.7639999999999998"/>
+	</joint>
+	<link name="link_4">
+		<visual name="vertical_side_panel-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-55">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_side_panel-55">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_panel-56">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-57">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_panel-57">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-58">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_vertical_bar-59">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-60">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-61">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-62">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-63">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-64">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-65">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame_horizontal_bar-66">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-68">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-144.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-50">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-51">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-52">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_side_panel-53">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.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-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-144.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-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":20,"name":"drawer_front","children":[]},{"id":21,"name":"drawer_side","children":[]},{"id":22,"name":"drawer_side","children":[]},{"id":23,"name":"drawer_back","children":[]},{"id":24,"name":"drawer_bottom","children":[]},{"id":26,"name":"other_leaf","children":[]},{"id":19,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[-0.007094012744034983,0.2428239049301521,0.545041024684906],"direction":[0,0,1]},"limit":{"a":0,"b":0.7999999999999998,"noLimit":false}}},{"id":1,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":11,"name":"drawer_side","children":[]},{"id":12,"name":"drawer_back","children":[]},{"id":13,"name":"drawer_bottom","children":[]},{"id":14,"name":"drawer_front","children":[]},{"id":15,"name":"drawer_side","children":[]},{"id":17,"name":"other_leaf","children":[]},{"id":8,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0.011644773393774366,0.5224266063681192,-0.49444198608398415],"direction":[0,0,1]},"limit":{"a":0,"b":0.7999999999999998,"noLimit":false}}},{"id":2,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":42,"name":"drawer_front","children":[]},{"id":43,"name":"drawer_side","children":[]},{"id":44,"name":"drawer_side","children":[]},{"id":45,"name":"drawer_back","children":[]},{"id":46,"name":"drawer_bottom","children":[]},{"id":48,"name":"other_leaf","children":[]},{"id":41,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[-0.006549926921868815,-0.3782072034638172,-0.4944419860839846],"direction":[0,0,1]},"limit":{"a":0,"b":0.7999999999999998,"noLimit":false}}},{"id":3,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":33,"name":"drawer_front","children":[]},{"id":34,"name":"drawer_side","children":[]},{"id":35,"name":"drawer_side","children":[]},{"id":36,"name":"drawer_back","children":[]},{"id":37,"name":"drawer_bottom","children":[]},{"id":39,"name":"other_leaf","children":[]},{"id":32,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[-0.020994513303207882,0.0012346004278181305,-0.4944419860839846],"direction":[0,0,1]},"limit":{"a":0,"b":0.7639999999999998,"noLimit":false}}},{"id":4,"parent":-1,"joint":"heavy","name":"cabinet_frame","parts":[{"id":54,"name":"vertical_side_panel","children":[]},{"id":55,"name":"vertical_side_panel","children":[]},{"id":56,"name":"back_panel","children":[]},{"id":57,"name":"bottom_panel","children":[]},{"id":58,"name":"frame_vertical_bar","children":[]},{"id":59,"name":"frame_vertical_bar","children":[]},{"id":60,"name":"frame_horizontal_bar","children":[]},{"id":61,"name":"frame_horizontal_bar","children":[]},{"id":62,"name":"frame_horizontal_bar","children":[]},{"id":63,"name":"frame_horizontal_bar","children":[]},{"id":64,"name":"frame_horizontal_bar","children":[]},{"id":65,"name":"frame_horizontal_bar","children":[]},{"id":66,"name":"frame_horizontal_bar","children":[]},{"id":68,"name":"other_leaf","children":[]},{"id":50,"name":"base_side_panel","children":[]},{"id":51,"name":"base_side_panel","children":[]},{"id":52,"name":"base_side_panel","children":[]},{"id":53,"name":"base_side_panel","children":[]}],"jointData":{}}]

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/0.txt

@@ -0,0 +1 @@
+0 storage_furniture Storage Furniture

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/12.txt

@@ -0,0 +1 @@
+12 drawer_back Drawer back

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/13.txt

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

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/14.txt

@@ -0,0 +1 @@
+14 drawer_front Drawer front

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/15.txt

@@ -0,0 +1 @@
+15 drawer_side Drawer side

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/17.txt

@@ -0,0 +1 @@
+17 other_leaf other_leaf

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/19.txt

@@ -0,0 +1 @@
+19 handle Handle

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/21.txt

@@ -0,0 +1 @@
+21 drawer_side Drawer side

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/22.txt

@@ -0,0 +1 @@
+22 drawer_side Drawer side

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/23.txt

@@ -0,0 +1 @@
+23 drawer_back Drawer back

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/25.txt

@@ -0,0 +1 @@
+25 other rectangle (other)

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/26.txt

@@ -0,0 +1 @@
+26 other_leaf other_leaf

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/28.txt

@@ -0,0 +1 @@
+28 cabinet_base Cabinet Base

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/29.txt

@@ -0,0 +1 @@
+29 drawer Drawer

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/30.txt

@@ -0,0 +1 @@
+30 drawer Drawer

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/31.txt

@@ -0,0 +1 @@
+31 drawer_box Drawer box

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/32.txt

@@ -0,0 +1 @@
+32 handle Handle

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/33.txt

@@ -0,0 +1 @@
+33 drawer_front Drawer front

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/35.txt

@@ -0,0 +1 @@
+35 drawer_side Drawer side

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/36.txt

@@ -0,0 +1 @@
+36 drawer_back Drawer back

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/37.txt

@@ -0,0 +1 @@
+37 drawer_bottom Drawer bottom

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/39.txt

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

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/40.txt

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

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/41.txt

@@ -0,0 +1 @@
+41 handle Handle

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/43.txt

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

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/44.txt

@@ -0,0 +1 @@
+44 drawer_side Drawer side

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/46.txt

@@ -0,0 +1 @@
+46 drawer_bottom Drawer bottom

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/47.txt

@@ -0,0 +1 @@
+47 other rectangle (other)

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/49.txt

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

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/5.txt

@@ -0,0 +1 @@
+5 drawer Drawer

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/51.txt

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

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/52.txt

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

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/53.txt

@@ -0,0 +1 @@
+53 base_side_panel Base side panel

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/54.txt

@@ -0,0 +1 @@
+54 vertical_side_panel Vertical side panel

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/55.txt

@@ -0,0 +1 @@
+55 vertical_side_panel Vertical side panel

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/56.txt

@@ -0,0 +1 @@
+56 back_panel Back panel

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/57.txt

@@ -0,0 +1 @@
+57 bottom_panel Bottom panel

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/58.txt

@@ -0,0 +1 @@
+58 frame_vertical_bar Vertical support bar

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/6.txt

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

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/60.txt

@@ -0,0 +1 @@
+60 frame_horizontal_bar Horizontal support bar

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/63.txt

@@ -0,0 +1 @@
+63 frame_horizontal_bar Horizontal support bar

TrainSuite/cabinet_suite/StorageFurniture-45710-link_1-handle_5-joint_1-handlejoint_5/parts_render/64.txt

@@ -0,0 +1 @@
+64 frame_horizontal_bar Horizontal support bar