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diff --git a/data/PartNet-Mobility/Chair/41045/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/41045/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..74a721132cf958925b1c3f157281cab6d1a9d083
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41045/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/41045/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..b2b79f7fb50da7df1bfe1361331d847efa20fecd
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diff --git a/data/PartNet-Mobility/Chair/41045/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/41045/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c9e242a55be643cbf15c9c5b91b0e77797899cb2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41045/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/41045/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9955a025295ba2c29f5a7c8793234d9508f8e1b2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/41045/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/41045/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5d13be9440440477d30804a02c891ed7f6e9ad2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/41045/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/41045/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0b3bcb947217b0da6aa2256ab0dc420d33309b7d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/41045/result.json b/data/PartNet-Mobility/Chair/41045/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..db559b249290e9133be4ec859fa2e1935e8e3225
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Hard Surface", "objs": ["original-56"], "id": 58, "name": "back_hard_surface"}], "id": 56, "name": "back_surface"}, {"text": "Back Support", "objs": ["original-15", "original-14", "original-16"], "id": 57, "name": "back_support"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["new-7"], "id": 53, "name": "armrest_hard_surface"}, {"text": "Arm Vertical Bar", "objs": ["new-9"], "id": 54, "name": "arm_vertical_bar"}, {"text": "Arm Vertical Bar", "objs": ["original-48"], "id": 55, "name": "arm_vertical_bar"}, {"text": "Arm Holistic Frame", "objs": ["original-52"], "id": 67, "name": "arm_holistic_frame"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["original-51"], "id": 50, "name": "armrest_hard_surface"}, {"text": "Arm Vertical Bar", "objs": ["new-6"], "id": 51, "name": "arm_vertical_bar"}, {"text": "Arm Vertical Bar", "objs": ["new-10"], "id": 52, "name": "arm_vertical_bar"}, {"text": "Arm Holistic Frame", "objs": ["original-49"], "id": 68, "name": "arm_holistic_frame"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Hard Surface", "objs": ["original-45"], "id": 49, "name": "seat_hard_surface"}], "id": 46, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-46"], "id": 66, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-53"], "id": 7, "name": "central_support"}, {"text": "Central Support", "objs": ["new-5"], "id": 8, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["new-2"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["new-0"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["new-4"], "id": 14, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-34"], "id": 40, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-35"], "id": 41, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-36"], "id": 42, "name": "wheel"}, {"text": "Wheel", "objs": ["original-37"], "id": 43, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-29"], "id": 36, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-30"], "id": 37, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-31"], "id": 38, "name": "wheel"}, {"text": "Wheel", "objs": ["original-32"], "id": 39, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-24"], "id": 32, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-25"], "id": 33, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-26"], "id": 34, "name": "wheel"}, {"text": "Wheel", "objs": ["original-27"], "id": 35, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-39"], "id": 24, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-40"], "id": 25, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-41"], "id": 26, "name": "wheel"}, {"text": "Wheel", "objs": ["original-42"], "id": 27, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-19"], "id": 20, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-20"], "id": 21, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-21"], "id": 22, "name": "wheel"}, {"text": "Wheel", "objs": ["original-22"], "id": 23, "name": "wheel"}], "id": 19, "name": "caster"}], "id": 9, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["original-55"], "id": 44, "name": "central_support"}, {"text": "Mechanical Control", "children": [{"text": "Knob", "objs": ["original-57", "original-54"], "id": 64, "name": "knob"}], "id": 59, "name": "mechanical_control"}, {"text": "Seat Connector", "objs": ["original-2", "new-11", "new-8"], "id": 65, "name": "seat_connector"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41045/result_after_merging.json b/data/PartNet-Mobility/Chair/41045/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..7615140a5c2cadaa772e48b3e49cd54a754a8316
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/result_after_merging.json
@@ -0,0 +1 @@
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"name": "arm_horizontal_bar", "id": 11, "objs": ["original-51"]}, {"text": "arm_near_vertical_bar", "ori_id": 51, "name": "arm_near_vertical_bar", "id": 12, "objs": ["new-6"]}, {"text": "arm_near_vertical_bar", "ori_id": 52, "name": "arm_near_vertical_bar", "id": 13, "objs": ["new-10"]}, {"text": "arm_holistic_frame", "ori_id": 68, "name": "arm_holistic_frame", "id": 14, "objs": ["original-49"]}]}, {"name": "chair_seat", "id": 15, "objs": ["original-45", "original-46"], "text": "chair_seat", "ori_id": 4, "children": [{"name": "seat_surface", "id": 16, "objs": ["original-45"], "text": "seat_surface", "ori_id": 46, "children": [{"text": "seat_single_surface", "ori_id": 49, "name": "seat_single_surface", "id": 17, "objs": ["original-45"]}]}, {"text": "seat_support", "ori_id": 66, "name": "seat_support", "id": 18, "objs": ["original-46"]}]}, {"name": "chair_base", "id": 19, "objs": ["original-53", "new-5", "new-2", "new-3", "new-1", "new-0", "new-4", "original-34", "original-35", 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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41045/semantics.txt b/data/PartNet-Mobility/Chair/41045/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1bb18abb2d108004247a6bfe4be21f50517c969a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/semantics.txt
@@ -0,0 +1,18 @@
+link_0 hinge knob
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge wheel
+link_5 hinge wheel
+link_6 hinge wheel
+link_7 hinge wheel
+link_8 hinge wheel
+link_9 hinge wheel
+link_10 hinge wheel
+link_11 slider+ seat
+link_12 free chair_leg
+link_13 hinge caster
+link_14 hinge caster
+link_15 hinge caster
+link_16 hinge caster
+link_17 hinge caster
diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5368f578930c1dfadff1b5c9e11d378cddb4b0bc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/new-0.mtl
@@ -0,0 +1,16 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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+newmtl material-1
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+
diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33cd573a85070cb4243fb2d887236f46538de847
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5368f578930c1dfadff1b5c9e11d378cddb4b0bc
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28964fcdc699e1eeccf072ba5dc33243c234a9b9
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-10.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/new-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..acff8810a075b0f87037f7c7b02ec3c37a062519
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/new-10.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-10.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/new-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d96f862cc23bebff81e82806b5298b3dba58f3cb
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-11.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/new-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..acff8810a075b0f87037f7c7b02ec3c37a062519
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-11.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/new-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a0692eef368688d064abbc691c9bcc2861a6e8a
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5368f578930c1dfadff1b5c9e11d378cddb4b0bc
--- /dev/null
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@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e047992b68965a8e98314a44cd8ee098b10d4113
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/new-3.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4b93bceb36add784dae4665131453a5523deff4
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/new-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5368f578930c1dfadff1b5c9e11d378cddb4b0bc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/new-4.mtl
@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-5.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/new-5.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-5.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/new-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e146370847190c425a35c32bbc839010a189ac0f
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-6.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/new-6.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-6.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/new-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73959bababb2da96c6a0911514d64ed2922dcbee
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/new-7.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-7.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/new-7.obj
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-8.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/new-8.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-8.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/new-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e678686d46528ac366e96c5584e7e29a62c70ad
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-9.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/new-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..acff8810a075b0f87037f7c7b02ec3c37a062519
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/new-9.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
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+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/new-9.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/new-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feb0273a8ea64ebec7bf5ba7592e02451482e3c0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/new-9.obj
@@ -0,0 +1,403 @@
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbd6238dcf6965a4dc68327f897783d09b79a588
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-14.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c7650f7346fd6bebd967e52251f0c89c9535f8a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbd6238dcf6965a4dc68327f897783d09b79a588
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-15.mtl
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fd126eca0c56bfb5c434705d89b1a047de96448
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbd6238dcf6965a4dc68327f897783d09b79a588
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-16.mtl
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df3fa089e69e737aef0a792775ff5d6be4dd7ae8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-19.mtl
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a278492230e31943c12a9229deed309dabf5214b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..655c85d83c9e9c05d559174c6752d78699e30de3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eab6e5e8e2ccb354048438d90227eab8fa801ac0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b0444a34f8ede1031300565e34a662bd081cb6d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-20.mtl
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57e644a5e920626d6be5806ceb618daa46685df5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b0444a34f8ede1031300565e34a662bd081cb6d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-21.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8db889686de56abe287749564684d0934082234e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-21.obj
@@ -0,0 +1,396 @@
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+# 21
+mtllib original-21.mtl
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index 0000000000000000000000000000000000000000..8b0444a34f8ede1031300565e34a662bd081cb6d
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-22.obj
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index 0000000000000000000000000000000000000000..e1d30f9a89726c3fef4597cf5aa326ac2949087d
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-24.obj
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index 0000000000000000000000000000000000000000..1abb2bbba10a0130ea729f5914bbbf2b87d6e4fd
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b0444a34f8ede1031300565e34a662bd081cb6d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-25.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38adc98561c2ff8e6e1ab583e88e6ca28699d9ae
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..8b0444a34f8ede1031300565e34a662bd081cb6d
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-26.obj
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index 0000000000000000000000000000000000000000..f381b0d397bad563392fb585b30ba72a53dc384a
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b6f73e3645aaa32350863499c03af1f43dcba8a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-29.obj
@@ -0,0 +1,394 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b0444a34f8ede1031300565e34a662bd081cb6d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-30.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc54496412ada9d0c34d9711b7f62b84d7194690
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-30.obj
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+# 30
+mtllib original-30.mtl
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b0444a34f8ede1031300565e34a662bd081cb6d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-31.mtl
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..620f0e7e62df1a620372ac4f9804b606bfa17799
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15f67e7356146973ef9bb69d4934c5c8f4db6a79
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b0444a34f8ede1031300565e34a662bd081cb6d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-35.obj
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index 0000000000000000000000000000000000000000..0acb2242121b0f24d0cb1e7d7b400c39a89d0022
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aabfb52f7ae06f7c86b985c8e04b3ded5bcc88b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-37.obj
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-39.mtl
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7d3e237865b6cac9a55fc2cd5e88924109020d5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-39.obj
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-40.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b0444a34f8ede1031300565e34a662bd081cb6d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-40.mtl
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-40.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e5bb6240cf91c9649175d55b5e8cfd88cec1d14
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-41.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b0444a34f8ede1031300565e34a662bd081cb6d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-41.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-41.obj
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index 0000000000000000000000000000000000000000..4c86bbe5993345011e48a8c250c7fc2bc1f2a745
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-42.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b0444a34f8ede1031300565e34a662bd081cb6d
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-42.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-42.obj
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index 0000000000000000000000000000000000000000..56146c491a5457c4f45c50ebcc8d281511dc9314
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-45.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-45.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b6919f37f257575d712b9c7b8565783a3b2c780
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-45.obj
@@ -0,0 +1,4589 @@
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-46.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-46.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-46.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..910ffa0a4071f17fea07f58e22e4114c0371164f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-46.obj
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-48.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b0444a34f8ede1031300565e34a662bd081cb6d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-48.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-48.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afaffbf3cece1f7feeb0247dceb2d04318409908
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-48.obj
@@ -0,0 +1,3479 @@
+# SSTK version 0.8.0
+# 48
+mtllib original-48.mtl
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-49.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8ec8644d187d663ae487b8f82915493f779fd151
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-49.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-49.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98ab68654a7dbb1486b2a37d342684da7a76ae24
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-49.obj
@@ -0,0 +1,3908 @@
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-51.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b0444a34f8ede1031300565e34a662bd081cb6d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-51.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-51.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecbe9917165396e7e81c1943b604100d5596e161
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-51.obj
@@ -0,0 +1,3479 @@
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-52.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8ec8644d187d663ae487b8f82915493f779fd151
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-52.mtl
@@ -0,0 +1,14 @@
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+
diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-52.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc06b61e17f3fc6197e57167cc9e792814e4eaa9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-52.obj
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-53.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9030b9ec0056da9215c7d0790581da23167af6c7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-53.mtl
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-53.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bbf9a0b02bb41089cba58df0cd11df05f768bfb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-53.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-55.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-55.obj
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-56.mtl b/data/PartNet-Mobility/Chair/41045/textured_objs/original-56.mtl
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-56.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
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+
diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-56.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0597f111e95697cce1c9d8e686748786f633bc12
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/textured_objs/original-56.obj
@@ -0,0 +1,2057 @@
+# SSTK version 0.8.0
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new file mode 100644
index 0000000000000000000000000000000000000000..07fe8c19cc4859a79b5c583cec77b6408167e5b6
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diff --git a/data/PartNet-Mobility/Chair/41045/textured_objs/original-57.obj b/data/PartNet-Mobility/Chair/41045/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42262a2456e1882277f8b9ee4e307621b113427f
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diff --git a/data/PartNet-Mobility/Chair/41045/tree_hier.html b/data/PartNet-Mobility/Chair/41045/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..4f02e89a8ecd7903d423fa722eb0ecc4850547bf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/tree_hier.html
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+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>56 back_surface Back Surface</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>57 back_support Back Support</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>53 armrest_hard_surface Armrest Hard Surface</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td><p>67 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/67.png"><img src="parts_render/67.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>50 armrest_hard_surface Armrest Hard Surface</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td><p>68 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/68.png"><img src="parts_render/68.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>46 seat_surface Seat Surface</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>66 seat_support Seat Support</p><a href="parts_render/66.png"><img src="parts_render/66.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 star_leg_base Star-shape Leg Base</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td><p>58 back_hard_surface Back Hard Surface</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>49 seat_hard_surface Seat Hard Surface</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>7 central_support Central Support</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 central_support Central Support</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 star_leg_set Star-shape Leg Set</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>44 central_support Central Support</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>59 mechanical_control Mechanical Control</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>65 seat_connector Seat Connector</p><a href="parts_render/65.png"><img src="parts_render/65.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 leg Leg</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 caster Wheel Assembly</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>19 caster Wheel Assembly</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>64 knob Knob</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>40 caster_yoke Caster Yoke</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 caster_stem Caster Stem</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 wheel Wheel</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 wheel Wheel</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>36 caster_yoke Caster Yoke</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 caster_stem Caster Stem</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 wheel Wheel</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 wheel Wheel</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>32 caster_yoke Caster Yoke</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 caster_stem Caster Stem</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel Wheel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel Wheel</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>24 caster_yoke Caster Yoke</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 caster_stem Caster Stem</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 wheel Wheel</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 wheel Wheel</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>20 caster_yoke Caster Yoke</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 caster_stem Caster Stem</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 wheel Wheel</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 wheel Wheel</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_arm chair_arm</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 chair_arm chair_arm</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>15 chair_seat chair_seat</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>19 chair_base chair_base</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_support back_support</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>16 seat_surface seat_surface</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>18 seat_support seat_support</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>20 star_leg_base star_leg_base</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>21 central_support central_support</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 central_support central_support</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 star_leg_set star_leg_set</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>49 central_support central_support</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 mechanical_control mechanical_control</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>24 leg leg</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 leg leg</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 leg leg</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 leg leg</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 leg leg</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 caster caster</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>33 caster caster</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>37 caster caster</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>41 caster caster</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>45 caster caster</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>51 knob knob</p><a href="parts_render_after_merging/51.png"><img src="parts_render_after_merging/51.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>30 caster_stem caster_stem</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel wheel</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel wheel</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>34 caster_stem caster_stem</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel wheel</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 wheel wheel</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>38 caster_stem caster_stem</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 wheel wheel</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 wheel wheel</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>42 caster_stem caster_stem</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 wheel wheel</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 wheel wheel</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>46 caster_stem caster_stem</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 wheel wheel</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 wheel wheel</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41153/bounding_box.json b/data/PartNet-Mobility/Chair/41153/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..d75e65691153f6a7af6c72e3583fe19dbcdc633b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.563462, -0.762422, -0.535299], "max": [0.540057, 0.907375, 0.546848]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41153/images/texture_0.jpg b/data/PartNet-Mobility/Chair/41153/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..95cad1c07f6bf79c59304b0183e354dbc017346e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6339add3ee261b23964afe371b41ccaa75a6af3796b1ddf4f15b2c7c5c09433d
+size 27591
diff --git a/data/PartNet-Mobility/Chair/41153/meta.json b/data/PartNet-Mobility/Chair/41153/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef630a8ddedca96601e4b4e226d87464b5d28ab4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/meta.json
@@ -0,0 +1 @@
+{"model_id": "99120ec1daa4ae1bad484915511ccff6", "anno_id": "41153", "user_id": "yz-majinghua", "time_in_sec": "871", "version": "5", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41153/mobility.urdf b/data/PartNet-Mobility/Chair/41153/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5ce281ca3ca533c0243c0100c7ba8ef5fc2ef45a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/mobility.urdf
@@ -0,0 +1,792 @@
+<?xml version="1.0" ?>
+<robot name="partnet_99120ec1daa4ae1bad484915511ccff6">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever-76">
+			<origin xyz="-0.12042415942996744 0.17889561294307413 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-76">
+			<origin xyz="-0.12042415942996744 0.17889561294307413 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-76">
+			<origin xyz="-0.12042415942996744 0.17889561294307413 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.12042415942996744 0.17889561294307413 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12042415942996744 0.17889561294307413 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.12042415942996744 0.17889561294307413 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.13219904197639668 -0.17889561294307413 -0.022481716908374236"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_16"/>
+		<limit lower="-0.0" upper="0.3204424506661591"/>
+	</joint>
+	<link name="link_1">
+		<visual name="caster_stem-102">
+			<origin xyz="0.5227210218181609 0 0.14397391162969364"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5227210218181609 0 0.14397391162969364"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.5227210218181609 0 -0.14397391162969364"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-103">
+			<origin xyz="-0.0065671911528872055 0.7060431671475953 0.10813501688948095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0065671911528872055 0.7060431671475953 0.10813501688948095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.5292882129710481 -0.7060431671475953 0.03583889474021269"/>
+		<axis xyz="0.9999566980936941 0.009305959844037686 -3.238730896646673e-05"/>
+		<child link="link_2"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-104">
+			<origin xyz="0 0.7107210056808267 0.10811899999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7107210056808267 0.10811899999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.5227210218181609 -0.7107210056808267 0.03585491162969365"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_4">
+		<visual name="caster_stem-99">
+			<origin xyz="0.32877011449438337 0 -0.4601039954670883"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.32877011449438337 0 -0.4601039954670883"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.32877011449438337 0 0.4601039954670883"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-100">
+			<origin xyz="0 0.7107210056808267 -0.495245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7107210056808267 -0.495245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.32877011449438337 -0.7107210056808267 0.03514100453291169"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-101">
+			<origin xyz="0 0.7107210056808267 -0.495245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7107210056808267 -0.495245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.32877011449438337 -0.7107210056808267 0.03514100453291169"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_6"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_7">
+		<visual name="caster_stem-96">
+			<origin xyz="-0.30586192690503605 0 -0.4606418216372392"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.30586192690503605 0 -0.4606418216372392"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.30586192690503605 0 0.4606418216372392"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_7"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-97">
+			<origin xyz="0 0.7107210056808267 -0.495245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7107210056808267 -0.495245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.30586192690503605 -0.7107210056808267 0.03460317836276078"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_8"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-98">
+			<origin xyz="0 0.7107210056808267 -0.495245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7107210056808267 -0.495245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.30586192690503605 -0.7107210056808267 0.03460317836276078"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_9"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_10">
+		<visual name="caster_stem-93">
+			<origin xyz="0.010786704643964765 0 0.5170993392990177"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.010786704643964765 0 0.5170993392990177"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.010786704643964765 0 -0.5170993392990177"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_10"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel-94">
+			<origin xyz="0 0.7107210056808267 0.481251"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7107210056808267 0.481251"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="0.010786704643964765 -0.7107210056808267 0.03584833929901776"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_11"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_12">
+		<visual name="wheel-95">
+			<origin xyz="0 0.7107210056808267 0.481251"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7107210056808267 0.481251"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="0.010786704643964765 -0.7107210056808267 0.03584833929901776"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_12"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_13">
+		<visual name="caster_stem-87">
+			<origin xyz="-0.502498314630747 0 0.14401355345049882"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.502498314630747 0 0.14401355345049882"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="0.502498314630747 0 -0.14401355345049882"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_13"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_14">
+		<visual name="wheel-88">
+			<origin xyz="0 0.7107210056808267 0.10811899999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7107210056808267 0.10811899999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="-0.502498314630747 -0.7107210056808267 0.03589455345049883"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_14"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_15">
+		<visual name="wheel-89">
+			<origin xyz="0 0.7107210056808267 0.10811899999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7107210056808267 0.10811899999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="-0.502498314630747 -0.7107210056808267 0.03589455345049883"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_15"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_16">
+		<visual name="back_holistic_frame-67">
+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface-70">
+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface-70">
+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-69">
+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-69">
+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_support-72">
+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_soft_surface-58">
+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-59">
+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-59">
+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar-60">
+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-61">
+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_soft_surface-50">
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+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
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+		<visual name="arm_vertical_bar-51">
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+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
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+			<geometry>
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+		</visual>
+		<visual name="arm_connector-53">
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+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-49">
+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-47">
+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-47">
+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
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+		</visual>
+		<visual name="seat_support-47">
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+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
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+			<origin xyz="0.011774882546429223 0 -0.022481716908374236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
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+		</visual>
+		<visual name="seat_support-47">
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+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
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+			</geometry>
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+		<visual name="central_support-7">
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
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+		<collision>
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+				<mesh filename="textured_objs/original-25.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_16"/>
+		<parent link="link_16_helper"/>
+	</joint>
+	<link name="link_17">
+		<visual name="central_support-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-77">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-78">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-79">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-80">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-81">
+			<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-7.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-6.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-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>
+	</link>
+	<joint name="joint_17" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_17"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_16_helper"/>
+	<joint name="joint_18" type="prismatic">
+		<origin xyz="-0.011774882546429223 0 0.022481716908374236"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_16_helper"/>
+		<parent link="link_17"/>
+		<limit lower="0" upper="0.06800000000000006"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/41153/mobility_v2.json b/data/PartNet-Mobility/Chair/41153/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d920baf030cefb6908142e7feb9f611390435c99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":16,"joint":"hinge","name":"lever","parts":[{"id":76,"name":"lever","children":[]}],"jointData":{"axis":{"origin":[0.12042415942996744,-0.17889561294307413,0],"direction":[0,0,1]},"limit":{"a":0,"b":-18.360000000000014,"noLimit":false}}},{"id":1,"parent":17,"joint":"hinge","name":"caster_stem","parts":[{"id":102,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.5227210218181609,0,-0.14397391162969364],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":1,"joint":"hinge","name":"wheel","parts":[{"id":103,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.0065671911528872055,-0.7060431671475953,-0.10813501688948095],"direction":[0.9999566980936941,0.009305959844037686,-0.00003238730896646673]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":1,"joint":"hinge","name":"wheel","parts":[{"id":104,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.7107210056808267,-0.10811899999999999],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":17,"joint":"hinge","name":"caster_stem","parts":[{"id":99,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.32877011449438337,0,0.4601039954670883],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":100,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.7107210056808267,0.495245],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":101,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.7107210056808267,0.495245],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":17,"joint":"hinge","name":"caster_stem","parts":[{"id":96,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.30586192690503605,0,0.4606418216372392],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":97,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.7107210056808267,0.495245],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":98,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.7107210056808267,0.495245],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":17,"joint":"hinge","name":"caster_stem","parts":[{"id":93,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.010786704643964765,0,-0.5170993392990177],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":94,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.7107210056808267,-0.481251],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":95,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.7107210056808267,-0.481251],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":13,"parent":17,"joint":"hinge","name":"caster_stem","parts":[{"id":87,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.502498314630747,0,-0.14401355345049882],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":14,"parent":13,"joint":"hinge","name":"wheel","parts":[{"id":88,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.7107210056808267,-0.10811899999999999],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":15,"parent":13,"joint":"hinge","name":"wheel","parts":[{"id":89,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.7107210056808267,-0.10811899999999999],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":16,"parent":17,"joint":"slider","name":"chair_back","parts":[{"id":67,"name":"back_holistic_frame","children":[]},{"id":70,"name":"back_soft_surface","children":[]},{"id":69,"name":"back_connector","children":[]},{"id":72,"name":"back_support","children":[]},{"id":58,"name":"armrest_soft_surface","children":[]},{"id":59,"name":"arm_vertical_bar","children":[]},{"id":60,"name":"arm_horizontal_bar","children":[]},{"id":61,"name":"arm_connector","children":[]},{"id":50,"name":"armrest_soft_surface","children":[]},{"id":51,"name":"arm_vertical_bar","children":[]},{"id":52,"name":"arm_horizontal_bar","children":[]},{"id":53,"name":"arm_connector","children":[]},{"id":49,"name":"seat_soft_surface","children":[]},{"id":47,"name":"seat_support","children":[]},{"id":7,"name":"central_support","children":[]}],"jointData":{"axis":{"origin":[-0.011774882546429223,0,0.022481716908374236],"direction":[0,1,0]},"limit":{"a":0,"b":-0.06800000000000006,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":17,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":8,"name":"central_support","children":[]},{"id":9,"name":"central_support","children":[]},{"id":77,"name":"leg","children":[]},{"id":78,"name":"leg","children":[]},{"id":79,"name":"leg","children":[]},{"id":80,"name":"leg","children":[]},{"id":81,"name":"leg","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41153/parts_render/0.png b/data/PartNet-Mobility/Chair/41153/parts_render/0.png
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f8215e48c830245c263e9394d159b2dec22bee818d2b3ed6541ed2fafd4914c
+size 31235
diff --git a/data/PartNet-Mobility/Chair/41153/parts_render/0.txt b/data/PartNet-Mobility/Chair/41153/parts_render/0.txt
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/parts_render/0.txt
@@ -0,0 +1 @@
+0 chair Sitting Furniture
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41153/parts_render/1.png b/data/PartNet-Mobility/Chair/41153/parts_render/1.png
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/parts_render/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76f20f4eaebb5ea3cb94ec4a4578a20a17a1d59542e398478bad75c948c12afd
+size 30127
diff --git a/data/PartNet-Mobility/Chair/41153/parts_render/1.txt b/data/PartNet-Mobility/Chair/41153/parts_render/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9e90a4c94b69c4c422fd7722948da211a57a37ae
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/parts_render/1.txt
@@ -0,0 +1 @@
+1 chair_back Chair Back
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41153/parts_render/10.png b/data/PartNet-Mobility/Chair/41153/parts_render/10.png
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+9 arm_horizontal_bar arm_horizontal_bar
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41153/point_sample/label-10000.txt b/data/PartNet-Mobility/Chair/41153/point_sample/label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1fd2857fa893349bb714979664927321e730fbcf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/point_sample/label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/41153/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/41153/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..ec162b5c97712961a268596cec4fd020d23218ed
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diff --git a/data/PartNet-Mobility/Chair/41153/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/41153/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..093f2d102bbd08b095a20e4e1cad9b344ceb12ab
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41153/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/41153/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9fe9f3b8311583d2a98cbf42d23c11becfae6fd6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41153/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/41153/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4ab8174ca60205e8ec5f09ea8364cc20a3ededab
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/41153/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/41153/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a8362c293c58a2620994818263edc691eeeadc9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/41153/result.json b/data/PartNet-Mobility/Chair/41153/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebab8888f0ad3045bd14fcd297637c28dae261ca
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Frame", "children": [{"text": "Back Holistic Frame", "objs": ["new-10"], "id": 67, "name": "back_holistic_frame"}], "id": 64, "name": "back_frame"}, {"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-3", "original-2"], "id": 70, "name": "back_soft_surface"}], "id": 68, "name": "back_surface"}, {"text": "Back Connector", "objs": ["new-9", "original-27"], "id": 69, "name": "back_connector"}, {"text": "Back Support", "objs": ["original-5"], "id": 72, "name": "back_support"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Armrest Soft Surface", "objs": ["original-18"], "id": 58, "name": "armrest_soft_surface"}, {"text": "Arm Vertical Bar", "objs": ["original-13", "original-16"], "id": 59, "name": "arm_vertical_bar"}, {"text": "Arm Horizontal Bar", "objs": ["original-15"], "id": 60, "name": "arm_horizontal_bar"}, {"text": "Arm Connector", "objs": ["original-14"], "id": 61, "name": "arm_connector"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Armrest Soft Surface", "objs": ["original-17"], "id": 50, "name": "armrest_soft_surface"}, {"text": "Arm Vertical Bar", "objs": ["original-8", "original-11"], "id": 51, "name": "arm_vertical_bar"}, {"text": "Arm Horizontal Bar", "objs": ["original-10"], "id": 52, "name": "arm_horizontal_bar"}, {"text": "Arm Connector", "objs": ["original-9"], "id": 53, "name": "arm_connector"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-1"], "id": 49, "name": "seat_soft_surface"}], "id": 46, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-22", "original-23", "original-24", "original-29", "original-33", "original-34", "original-26", "original-25", "original-28"], "id": 47, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["new-8"], "id": 7, "name": "central_support"}, {"text": "Central Support", "objs": ["new-7", "new-5"], "id": 8, "name": "central_support"}, {"text": "Central Support", "objs": ["new-6"], "id": 9, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["new-0"], "id": 77, "name": "leg"}, {"text": "Leg", "objs": ["new-4"], "id": 78, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 79, "name": "leg"}, {"text": "Leg", "objs": ["new-2"], "id": 80, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 81, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-46"], "id": 102, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-44"], "id": 103, "name": "wheel"}, {"text": "Wheel", "objs": ["original-45"], "id": 104, "name": "wheel"}], "id": 82, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-38"], "id": 99, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-36"], "id": 100, "name": "wheel"}, {"text": "Wheel", "objs": ["original-37"], "id": 101, "name": "wheel"}], "id": 83, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-42"], "id": 96, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-40"], "id": 97, "name": "wheel"}, {"text": "Wheel", "objs": ["original-41"], "id": 98, "name": "wheel"}], "id": 84, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-54"], "id": 93, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-53"], "id": 94, "name": "wheel"}, {"text": "Wheel", "objs": ["original-52"], "id": 95, "name": "wheel"}], "id": 85, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-50"], "id": 87, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-48"], "id": 88, "name": "wheel"}, {"text": "Wheel", "objs": ["original-49"], "id": 89, "name": "wheel"}], "id": 86, "name": "caster"}], "id": 10, "name": "star_leg_set"}, {"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-30", "original-32", "original-31"], "id": 76, "name": "lever"}], "id": 73, "name": "mechanical_control"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41153/result_after_merging.json b/data/PartNet-Mobility/Chair/41153/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..e726b77cf34051f267e895bd352ec27f9d9594f4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "chair", "objs": ["new-10", "original-3", "original-2", "new-9", "original-27", "original-5", "original-18", "original-13", "original-16", "original-15", "original-14", "original-17", "original-8", "original-11", "original-10", "original-9", "original-1", "original-22", "original-23", "original-24", "original-29", "original-33", "original-34", "original-26", "original-25", "original-28", "new-8", "new-7", "new-5", "new-6", "new-0", "new-4", "new-3", "new-2", "new-1", "original-46", "original-44", "original-45", "original-38", "original-36", "original-37", "original-42", "original-40", "original-41", "original-54", "original-53", "original-52", "original-50", "original-48", "original-49", "original-30", "original-32", "original-31"], "ori_id": 0, "id": 0, "children": [{"name": "chair_back", "objs": ["new-10", "original-3", "original-2", "new-9", "original-27", "original-5"], "ori_id": 1, "id": 1, "children": [{"name": "back_frame", "objs": ["new-10"], "ori_id": 64, "id": 2, "children": [{"name": "back_holistic_frame", "ori_id": 67, "id": 3, "objs": ["new-10"], "text": "back_holistic_frame"}], "text": "back_frame"}, {"name": "back_surface", "objs": ["original-3", "original-2"], "ori_id": 68, "id": 4, "children": [{"name": "back_single_surface", "ori_id": 70, "id": 5, "objs": ["original-3", "original-2"], "text": "back_single_surface"}], "text": "back_surface"}, {"name": "back_connector", "ori_id": 69, "id": 6, "objs": ["new-9", "original-27"], "text": "back_connector"}, {"name": "back_support", "ori_id": 72, "id": 7, "objs": ["original-5"], "text": "back_support"}], "text": "chair_back"}, {"name": "chair_arm", "objs": ["original-18", "original-13", "original-16", "original-15", "original-14"], "ori_id": 2, "id": 8, "children": [{"name": "arm_horizontal_bar", "ori_id": 58, "id": 9, "objs": ["original-18"], "text": "arm_horizontal_bar"}, {"name": "arm_near_vertical_bar", "ori_id": 59, "id": 10, "objs": ["original-13", "original-16"], "text": "arm_near_vertical_bar"}, {"name": "arm_horizontal_bar", "ori_id": 60, "id": 11, "objs": ["original-15"], "text": "arm_horizontal_bar"}, {"name": "arm_connector", "ori_id": 61, "id": 12, "objs": ["original-14"], "text": "arm_connector"}], "text": "chair_arm"}, {"name": "chair_arm", "objs": ["original-17", "original-8", "original-11", "original-10", "original-9"], "ori_id": 3, "id": 13, "children": [{"name": "arm_horizontal_bar", "ori_id": 50, "id": 14, "objs": ["original-17"], "text": "arm_horizontal_bar"}, {"name": "arm_near_vertical_bar", "ori_id": 51, "id": 15, "objs": ["original-8", "original-11"], "text": "arm_near_vertical_bar"}, {"name": "arm_horizontal_bar", "ori_id": 52, "id": 16, "objs": ["original-10"], "text": "arm_horizontal_bar"}, {"name": "arm_connector", "ori_id": 53, "id": 17, "objs": ["original-9"], "text": "arm_connector"}], "text": "chair_arm"}, {"name": "chair_seat", "objs": ["original-1", "original-22", "original-23", "original-24", "original-29", "original-33", "original-34", "original-26", "original-25", "original-28"], "ori_id": 4, "id": 18, "children": [{"name": "seat_surface", "objs": ["original-1"], "ori_id": 46, "id": 19, "children": [{"name": "seat_single_surface", "ori_id": 49, "id": 20, "objs": ["original-1"], "text": "seat_single_surface"}], "text": "seat_surface"}, {"name": "seat_support", "ori_id": 47, "id": 21, "objs": ["original-22", "original-23", "original-24", "original-29", "original-33", "original-34", "original-26", "original-25", "original-28"], "text": "seat_support"}], "text": "chair_seat"}, {"name": "chair_base", "objs": ["new-8", "new-7", "new-5", "new-6", "new-0", "new-4", "new-3", "new-2", "new-1", "original-46", "original-44", "original-45", "original-38", "original-36", "original-37", "original-42", "original-40", "original-41", "original-54", "original-53", "original-52", "original-50", "original-48", "original-49", "original-30", "original-32", "original-31"], "ori_id": 5, "id": 22, "children": [{"name": "star_leg_base", "objs": ["new-8", "new-7", "new-5", "new-6", "new-0", "new-4", "new-3", "new-2", "new-1", "original-46", "original-44", "original-45", "original-38", "original-36", "original-37", "original-42", "original-40", "original-41", "original-54", "original-53", "original-52", "original-50", "original-48", "original-49", "original-30", "original-32", "original-31"], "ori_id": 6, "id": 23, "children": [{"name": "central_support", "ori_id": 7, "id": 24, "objs": ["new-8"], "text": "central_support"}, {"name": "central_support", "ori_id": 8, "id": 25, "objs": ["new-7", "new-5"], "text": "central_support"}, {"name": "central_support", "ori_id": 9, "id": 26, "objs": ["new-6"], "text": "central_support"}, {"name": "star_leg_set", "objs": ["new-0", "new-4", "new-3", "new-2", "new-1", "original-46", "original-44", "original-45", "original-38", "original-36", "original-37", "original-42", "original-40", "original-41", "original-54", "original-53", "original-52", "original-50", "original-48", "original-49"], "ori_id": 10, "id": 27, "children": [{"name": "leg", "ori_id": 77, "id": 28, "objs": ["new-0"], "text": "leg"}, {"name": "leg", "ori_id": 78, "id": 29, "objs": ["new-4"], "text": "leg"}, {"name": "leg", "ori_id": 79, "id": 30, "objs": ["new-3"], "text": "leg"}, {"name": "leg", "ori_id": 80, "id": 31, "objs": ["new-2"], "text": "leg"}, {"name": "leg", "ori_id": 81, "id": 32, "objs": ["new-1"], "text": "leg"}, {"name": "caster", "objs": ["original-46", "original-44", "original-45"], "ori_id": 82, "id": 33, "children": [{"name": "caster_stem", "ori_id": 102, "id": 34, "objs": ["original-46"], "text": "caster_stem"}, {"name": "wheel", "ori_id": 103, "id": 35, "objs": ["original-44"], "text": "wheel"}, {"name": "wheel", "ori_id": 104, "id": 36, "objs": ["original-45"], "text": "wheel"}], "text": "caster"}, {"name": "caster", "objs": ["original-38", "original-36", "original-37"], "ori_id": 83, "id": 37, "children": [{"name": "caster_stem", "ori_id": 99, "id": 38, "objs": ["original-38"], "text": "caster_stem"}, {"name": "wheel", "ori_id": 100, "id": 39, "objs": ["original-36"], "text": "wheel"}, {"name": "wheel", "ori_id": 101, "id": 40, "objs": ["original-37"], "text": "wheel"}], "text": "caster"}, {"name": "caster", "objs": ["original-42", "original-40", "original-41"], "ori_id": 84, "id": 41, "children": [{"name": "caster_stem", "ori_id": 96, "id": 42, "objs": ["original-42"], "text": "caster_stem"}, {"name": "wheel", "ori_id": 97, "id": 43, "objs": ["original-40"], "text": "wheel"}, {"name": "wheel", "ori_id": 98, "id": 44, "objs": ["original-41"], "text": "wheel"}], "text": "caster"}, {"name": "caster", "objs": ["original-54", "original-53", "original-52"], "ori_id": 85, "id": 45, "children": [{"name": "caster_stem", "ori_id": 93, "id": 46, "objs": ["original-54"], "text": "caster_stem"}, {"name": "wheel", "ori_id": 94, "id": 47, "objs": ["original-53"], "text": "wheel"}, {"name": "wheel", "ori_id": 95, "id": 48, "objs": ["original-52"], "text": "wheel"}], "text": "caster"}, {"name": "caster", "objs": ["original-50", "original-48", "original-49"], "ori_id": 86, "id": 49, "children": [{"name": "caster_stem", "ori_id": 87, "id": 50, "objs": ["original-50"], "text": "caster_stem"}, {"name": "wheel", "ori_id": 88, "id": 51, "objs": ["original-48"], "text": "wheel"}, {"name": "wheel", "ori_id": 89, "id": 52, "objs": ["original-49"], "text": "wheel"}], "text": "caster"}], "text": "star_leg_set"}, {"name": "mechanical_control", "objs": ["original-30", "original-32", "original-31"], "ori_id": 73, "id": 53, "children": [{"name": "lever", "ori_id": 76, "id": 54, "objs": ["original-30", "original-32", "original-31"], "text": "lever"}], "text": "mechanical_control"}], "text": "star_leg_base"}], "text": "chair_base"}], "text": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41153/semantics.txt b/data/PartNet-Mobility/Chair/41153/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9d113ded1a0433c6292f13ff71fe03e95bdc9e21
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/semantics.txt
@@ -0,0 +1,18 @@
+link_0 hinge lever
+link_1 hinge caster
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge caster
+link_5 hinge wheel
+link_6 hinge wheel
+link_7 hinge caster
+link_8 hinge wheel
+link_9 hinge wheel
+link_10 hinge caster
+link_11 hinge wheel
+link_12 hinge wheel
+link_13 hinge caster
+link_14 hinge wheel
+link_15 hinge wheel
+link_16 slider+ seat
+link_17 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57a68c9c83cb848025139da158a7c2a8e1af4d0c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/new-0.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..852069233fae14ed78b9b5a9f3960fae17e1247c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/new-10.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/new-10.mtl
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/new-10.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/new-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..597d4d3a6f8743ba1fa55a55b507881e2d07d76d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/new-2.mtl
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b86461f6b714005fbb305e1c197098956c254201
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/new-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57a68c9c83cb848025139da158a7c2a8e1af4d0c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b047337b725352505235c8e61519959ed530396
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/new-4.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8cbf9f20efeead9ae8790a38a1163bc958a2ed5
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/new-7.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/new-8.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/new-8.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/new-8.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/new-8.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/new-9.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/new-9.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/new-9.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/new-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d323f6d11e4d79a17b9d2bca7cc79fddbd1ef0f1
--- /dev/null
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-1.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-1.mtl
@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-1.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e6acfa89262dbecf3e2833592359df0bf0e83de
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-1.obj
@@ -0,0 +1,2801 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e710eeda4e47003a306d7d74df29d263eccb650
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8a4ebc39937ee064092878d9620adc45c34a8a5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-11.obj
@@ -0,0 +1,983 @@
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80aa2f9e112f01eadc61959fd3318606b4cffe38
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-13.obj
@@ -0,0 +1,3263 @@
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+mtllib original-13.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbdd2f2cf5ffd3146e491f67110b516f9e85aa82
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-15.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f46b94202bdac0cbf5cec8ba0211de5c74be1efa
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2172c71a5731128949717f916c4125cffa33258
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-16.obj
@@ -0,0 +1,983 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..559c9d432507bd4bfca2ed5542c5a7613bd02612
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-17.obj
@@ -0,0 +1,563 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91b65c40d5c6349782d8635193d187ce5da58681
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-18.obj
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+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-2.mtl
@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0439563f2a542f80fc3bfffd72be8dcb8f0f6d1f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-22.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f8b6f7d88c8b996578e44526f6d4d621d74190c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-22.obj
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-23.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0251abdf6005d15a33b4206ff763f2ae48ee74a7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-23.obj
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80f43a733082e3fd2a6d0be59b8cebbe967cf2b3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-24.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68c2d96783ceafcd26e5ee598b3bb7927f9c21eb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-25.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed7e5923058b4518abb54e18d390a30bca8db7ab
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-26.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 26
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-27.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d472fd5afd0d26ec812581f4150611fc4e19e32f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-27.obj
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
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+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3bac1778c83e407336881ae4d5c1eedd6a50302
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32f63086b926b688d85101a6cb85dcaa08a6f5d1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-29.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
+o mesh25/mesh25-geometry#mesh25-geometry
+v 0.303744 -0.153641 0.376654
+v 0.137025 -0.153641 0.046392
+v 0.303744 -0.153641 0.046392
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+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1849abb6bf64192bdd450c48259d8a047e536540
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-3.obj
@@ -0,0 +1,3982 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f548e8066545c2dab498c16318e9b2021f465940
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-30.obj
@@ -0,0 +1,747 @@
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90e96b76bf58af868406de760b05dab4cee5a37e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab83b96991b4e5d1f602cb5501618bd0ce916334
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-32.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-33.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cc116e854106fa06613e351580dda25b41c8831
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-33.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-34.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0901628872cc3a184d4c441af96babc0870049e0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-34.obj
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-36.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-36.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0acc0706393999b3913e0ea67cf79d30d027976c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-36.obj
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-37.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67b3887b3f3979e66f5cae3c6a0a27a6f6e08792
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-37.obj
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-38.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1824be95149ba851b4c951d23d84b756b88a6c29
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-38.obj
@@ -0,0 +1,1234 @@
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-40.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-40.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c54353e2a79a868a75b6c98780dfa287890ebf25
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-40.obj
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-41.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-41.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-41.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3b3b76f364c3ad31cd710b512b873907c91b13d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-41.obj
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+mtllib original-41.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-42.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-42.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-42.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c13b07c82232f1aa6894521b230ac43fa475385
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-42.obj
@@ -0,0 +1,1234 @@
+# SSTK version 0.8.0
+# 42
+mtllib original-42.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-44.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-44.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bccc4936ec51b387bbb5dfc8b175e2d35f96f4f2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-44.obj
@@ -0,0 +1,809 @@
+# SSTK version 0.8.0
+# 44
+mtllib original-44.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-45.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-45.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f646ecd20ba273c32cd1fb9d5025dfbb93e498
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-45.obj
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+# SSTK version 0.8.0
+# 45
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-46.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-46.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-46.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e80e005aa9df3b1b16c7f57061b6650e1f7aa5b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-46.obj
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+# 46
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-48.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-48.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-48.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f7be987d7e1c2869a0ff0ccf3f59b2a982c96a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-48.obj
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-49.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-49.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-49.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9ae0add3cd43626a2772012be106f040ada4a69
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-49.obj
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4da15656aa58e798ac4229ccaeffd029cc0709d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-5.obj
@@ -0,0 +1,3876 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-50.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-50.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-50.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ec4bc8be4f2bdb2bdfa150bd2930c13cb5ce010
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-50.obj
@@ -0,0 +1,1234 @@
+# SSTK version 0.8.0
+# 50
+mtllib original-50.mtl
+o mesh46/mesh46-geometry#mesh46-geometry
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-52.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-52.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-52.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd8fc124b5fbfc283ae706185e326bcb4c7f0f76
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-52.obj
@@ -0,0 +1,809 @@
+# SSTK version 0.8.0
+# 52
+mtllib original-52.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-53.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-53.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-53.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..972f4795c32225a1eb62e5388ebc939cad0597a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-53.obj
@@ -0,0 +1,813 @@
+# SSTK version 0.8.0
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+mtllib original-53.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-54.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-54.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-54.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eda97ffe90fb92e6e4806e97f420009c27c340a1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-54.obj
@@ -0,0 +1,1234 @@
+# SSTK version 0.8.0
+# 54
+mtllib original-54.mtl
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b6c4550bbbd7c8814c4ac3fece29f1d9e91867f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-8.obj
@@ -0,0 +1,3263 @@
+# SSTK version 0.8.0
+# 8
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diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/41153/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/41153/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/41153/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b72fd159775bdc382b3ac3f594d391aed014194
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Chair/41153/tree_hier.html b/data/PartNet-Mobility/Chair/41153/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..d42a0bd0cb737e270c7bb2f48f380675611c81a9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41153/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>64 back_frame Back Frame</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>68 back_surface Back Surface</p><a href="parts_render/68.png"><img src="parts_render/68.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>69 back_connector Back Connector</p><a href="parts_render/69.png"><img src="parts_render/69.png" width="100px" height="100px"/></a></td><td></td><td><p>72 back_support Back Support</p><a href="parts_render/72.png"><img src="parts_render/72.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>58 armrest_soft_surface Armrest Soft Surface</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 arm_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 arm_connector Arm Connector</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>50 armrest_soft_surface Armrest Soft Surface</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 arm_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 arm_connector Arm Connector</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>46 seat_surface Seat Surface</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>47 seat_support Seat Support</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 star_leg_base Star-shape Leg Base</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td><p>67 back_holistic_frame Back Holistic Frame</p><a href="parts_render/67.png"><img src="parts_render/67.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>70 back_soft_surface Back Soft Surface</p><a href="parts_render/70.png"><img src="parts_render/70.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>49 seat_soft_surface Seat Soft Surface</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>7 central_support Central Support</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 central_support Central Support</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 central_support Central Support</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 star_leg_set Star-shape Leg Set</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>73 mechanical_control Mechanical Control</p><a href="parts_render/73.png"><img src="parts_render/73.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>77 leg Leg</p><a href="parts_render/77.png"><img src="parts_render/77.png" width="100px" height="100px"/></a></td><td></td><td><p>78 leg Leg</p><a href="parts_render/78.png"><img src="parts_render/78.png" width="100px" height="100px"/></a></td><td></td><td><p>79 leg Leg</p><a href="parts_render/79.png"><img src="parts_render/79.png" width="100px" height="100px"/></a></td><td></td><td><p>80 leg Leg</p><a href="parts_render/80.png"><img src="parts_render/80.png" width="100px" height="100px"/></a></td><td></td><td><p>81 leg Leg</p><a href="parts_render/81.png"><img src="parts_render/81.png" width="100px" height="100px"/></a></td><td></td><td><p>82 caster Wheel Assembly</p><a href="parts_render/82.png"><img src="parts_render/82.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>83 caster Wheel Assembly</p><a href="parts_render/83.png"><img src="parts_render/83.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>84 caster Wheel Assembly</p><a href="parts_render/84.png"><img src="parts_render/84.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>85 caster Wheel Assembly</p><a href="parts_render/85.png"><img src="parts_render/85.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>86 caster Wheel Assembly</p><a href="parts_render/86.png"><img src="parts_render/86.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>76 lever Lever</p><a href="parts_render/76.png"><img src="parts_render/76.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>102 caster_stem Caster Stem</p><a href="parts_render/102.png"><img src="parts_render/102.png" width="100px" height="100px"/></a></td><td></td><td><p>103 wheel Wheel</p><a href="parts_render/103.png"><img src="parts_render/103.png" width="100px" height="100px"/></a></td><td></td><td><p>104 wheel Wheel</p><a href="parts_render/104.png"><img src="parts_render/104.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>99 caster_stem Caster Stem</p><a href="parts_render/99.png"><img src="parts_render/99.png" width="100px" height="100px"/></a></td><td></td><td><p>100 wheel Wheel</p><a href="parts_render/100.png"><img src="parts_render/100.png" width="100px" height="100px"/></a></td><td></td><td><p>101 wheel Wheel</p><a href="parts_render/101.png"><img src="parts_render/101.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>96 caster_stem Caster Stem</p><a href="parts_render/96.png"><img src="parts_render/96.png" width="100px" height="100px"/></a></td><td></td><td><p>97 wheel Wheel</p><a href="parts_render/97.png"><img src="parts_render/97.png" width="100px" height="100px"/></a></td><td></td><td><p>98 wheel Wheel</p><a href="parts_render/98.png"><img src="parts_render/98.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>93 caster_stem Caster Stem</p><a href="parts_render/93.png"><img src="parts_render/93.png" width="100px" height="100px"/></a></td><td></td><td><p>94 wheel Wheel</p><a href="parts_render/94.png"><img src="parts_render/94.png" width="100px" height="100px"/></a></td><td></td><td><p>95 wheel Wheel</p><a href="parts_render/95.png"><img src="parts_render/95.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>87 caster_stem Caster Stem</p><a href="parts_render/87.png"><img src="parts_render/87.png" width="100px" height="100px"/></a></td><td></td><td><p>88 wheel Wheel</p><a href="parts_render/88.png"><img src="parts_render/88.png" width="100px" height="100px"/></a></td><td></td><td><p>89 wheel Wheel</p><a href="parts_render/89.png"><img src="parts_render/89.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 chair_arm chair_arm</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>13 chair_arm chair_arm</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 chair_seat chair_seat</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>22 chair_base chair_base</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_frame back_frame</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_surface back_surface</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 back_connector back_connector</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 back_support back_support</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>9 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 arm_connector arm_connector</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>14 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 arm_connector arm_connector</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>19 seat_surface seat_surface</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>21 seat_support seat_support</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>23 star_leg_base star_leg_base</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_holistic_frame back_holistic_frame</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 back_single_surface back_single_surface</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>20 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>24 central_support central_support</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 central_support central_support</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 central_support central_support</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 star_leg_set star_leg_set</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>53 mechanical_control mechanical_control</p><a href="parts_render_after_merging/53.png"><img src="parts_render_after_merging/53.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>28 leg leg</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 leg leg</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 leg leg</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 leg leg</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 leg leg</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 caster caster</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>37 caster caster</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>41 caster caster</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>45 caster caster</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>49 caster caster</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>54 lever lever</p><a href="parts_render_after_merging/54.png"><img src="parts_render_after_merging/54.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>34 caster_stem caster_stem</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel wheel</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 wheel wheel</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>38 caster_stem caster_stem</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 wheel wheel</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 wheel wheel</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>42 caster_stem caster_stem</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 wheel wheel</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 wheel wheel</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>46 caster_stem caster_stem</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 wheel wheel</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 wheel wheel</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>50 caster_stem caster_stem</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 wheel wheel</p><a href="parts_render_after_merging/51.png"><img src="parts_render_after_merging/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 wheel wheel</p><a href="parts_render_after_merging/52.png"><img src="parts_render_after_merging/52.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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+<?xml version="1.0" ?>
+<robot name="partnet_9e9697da825cbe4b3002761e7a3ba3bd">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="caster_yoke-31">
+			<origin xyz="-0.5324018687242571 0 0.1919143752259493"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5324018687242571 0 0.1919143752259493"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.5324018687242571 0 -0.1919143752259493"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_1">
+		<visual name="caster_yoke-28">
+			<origin xyz="-0.3283220180345418 0 -0.4357346625968439"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3283220180345418 0 -0.4357346625968439"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.3283220180345418 0 0.4357346625968439"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_2">
+		<visual name="caster_yoke-25">
+			<origin xyz="0.3338321915445938 0 -0.434682635498451"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3338321915445938 0 -0.434682635498451"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.3338321915445938 0 0.434682635498451"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_2"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_3">
+		<visual name="caster_yoke-22">
+			<origin xyz="0.5379907836579833 0 0.1940183479866479"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5379907836579833 0 0.1940183479866479"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.5379907836579833 0 -0.1940183479866479"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_3"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_4">
+		<visual name="caster_yoke-19">
+			<origin xyz="0.0024409627041782934 0 0.5819335974689553"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0024409627041782934 0 0.5819335974689553"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.0024409627041782934 0 -0.5819335974689553"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_5">
+		<visual name="back_soft_surface-55">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-54">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_soft_surface-49">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-50">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/new-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar-51">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/new-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar-51">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-52">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-52">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-45">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-45">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_soft_surface-46">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-47">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/new-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar-48">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar-48">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-40">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-41">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-42">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-34">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-35">
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
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+		</collision>
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+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/new-12.obj"/>
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+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/new-13.obj"/>
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+		<collision>
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
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+		</collision>
+		<collision>
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
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+		<collision>
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
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+		<collision>
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/new-11.obj"/>
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+		</collision>
+		<collision>
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
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+		</collision>
+		<collision>
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
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+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
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+		<collision>
+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
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+			<origin xyz="0.002603000000000001 0 0.01941538071249481"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
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+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_5"/>
+		<parent link="link_5_helper"/>
+	</joint>
+	<link name="link_6">
+		<visual name="central_support-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
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+		</visual>
+		<visual name="central_support-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
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+		<visual name="leg-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
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+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.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-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-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>
+	</link>
+	<joint name="joint_6" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_6"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-32">
+			<origin xyz="-0.5076513851096771 0.7553018436353479 0.16375477215953446"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-33">
+			<origin xyz="-0.5076513851096771 0.7553018436353479 0.16375477215953446"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5076513851096771 0.7553018436353479 0.16375477215953446"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5076513851096771 0.7553018436353479 0.16375477215953446"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.024750483614579988 -0.7553018436353479 0.02815960306641485"/>
+		<axis xyz="-0.3088633122224802 -0.0001268616618042636 -0.9511064284658567"/>
+		<child link="link_7"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-29">
+			<origin xyz="-0.3007778710633979 0.7552748631246576 -0.4155033287214867"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-30">
+			<origin xyz="-0.3007778710633979 0.7552748631246576 -0.4155033287214867"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3007778710633979 0.7552748631246576 -0.4155033287214867"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3007778710633979 0.7552748631246576 -0.4155033287214867"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.027544146971143935 -0.7552748631246576 -0.020231333875357194"/>
+		<axis xyz="-0.8089942864103401 0 0.5878152601017433"/>
+		<child link="link_8"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-26">
+			<origin xyz="0.30416892759360503 0.7553021223360266 -0.41686386119189933"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-27">
+			<origin xyz="0.30416892759360503 0.7553021223360266 -0.41686386119189933"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.30416892759360503 0.7553021223360266 -0.41686386119189933"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.30416892759360503 0.7553021223360266 -0.41686386119189933"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.029663263950988783 -0.7553021223360266 -0.017818774306551655"/>
+		<axis xyz="0.8090385412222609 None 0.5877538748249578"/>
+		<child link="link_9"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel-23">
+			<origin xyz="0.5127226919501656 0.7553040791840641 0.16545252729112614"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-24">
+			<origin xyz="0.5127226919501656 0.7553040791840641 0.16545252729112614"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5127226919501656 0.7553040791840641 0.16545252729112614"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.5127226919501656 0.7553040791840641 0.16545252729112614"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.02526809170781763 -0.7553040791840641 0.02856582069552177"/>
+		<axis xyz="0.30896482276663473 0 -0.951072433318659"/>
+		<child link="link_10"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel-20">
+			<origin xyz="0.001031447893218932 0.7553306014453656 0.549670400371962"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-21">
+			<origin xyz="0.001031447893218932 0.7553306014453656 0.549670400371962"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.001031447893218932 0.7553306014453656 0.549670400371962"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.001031447893218932 0.7553306014453656 0.549670400371962"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="0.0014095148109593615 -0.7553306014453656 0.032263197096993323"/>
+		<axis xyz="0.999999104663538 0 -4.348515435784859e-05"/>
+		<child link="link_11"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_5_helper"/>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="-0.002603000000000001 0 -0.01941538071249481"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_5_helper"/>
+		<parent link="link_6"/>
+		<limit lower="0" upper="0.08400000000000007"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/41434/mobility_v2.json b/data/PartNet-Mobility/Chair/41434/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..37735c54f6c5d384ab691c7c4c0cf9d3a4d90924
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":6,"joint":"hinge","name":"caster_yoke","parts":[{"id":31,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.5324018687242571,0,-0.1919143752259493],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":6,"joint":"hinge","name":"caster_yoke","parts":[{"id":28,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.3283220180345418,0,0.4357346625968439],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":6,"joint":"hinge","name":"caster_yoke","parts":[{"id":25,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.3338321915445938,0,0.434682635498451],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":6,"joint":"hinge","name":"caster_yoke","parts":[{"id":22,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.5379907836579833,0,-0.1940183479866479],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":6,"joint":"hinge","name":"caster_yoke","parts":[{"id":19,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.0024409627041782934,0,-0.5819335974689553],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":6,"joint":"slider","name":"chair_back","parts":[{"id":55,"name":"back_soft_surface","children":[]},{"id":54,"name":"back_connector","children":[]},{"id":49,"name":"armrest_soft_surface","children":[]},{"id":50,"name":"arm_vertical_bar","children":[]},{"id":51,"name":"arm_horizontal_bar","children":[]},{"id":52,"name":"arm_connector","children":[]},{"id":45,"name":"arm_connector","children":[]},{"id":46,"name":"armrest_soft_surface","children":[]},{"id":47,"name":"arm_vertical_bar","children":[]},{"id":48,"name":"arm_horizontal_bar","children":[]},{"id":40,"name":"seat_soft_surface","children":[]},{"id":41,"name":"seat_support","children":[]},{"id":42,"name":"seat_support","children":[]},{"id":34,"name":"central_support","children":[]},{"id":35,"name":"central_support","children":[]}],"jointData":{"axis":{"origin":[-0.002603000000000001,0,-0.01941538071249481],"direction":[0,-1,0]},"limit":{"a":0,"b":0.08400000000000007,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":6,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":36,"name":"central_support","children":[]},{"id":37,"name":"central_support","children":[]},{"id":9,"name":"leg","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]}],"jointData":{}},{"id":7,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":32,"name":"wheel","children":[]},{"id":33,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.5076513851096771,-0.7553018436353479,-0.16375477215953446],"direction":[-0.3088633122224802,-0.0001268616618042636,-0.9511064284658567]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":1,"joint":"hinge","name":"wheel","parts":[{"id":29,"name":"wheel","children":[]},{"id":30,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.3007778710633979,-0.7552748631246576,0.4155033287214867],"direction":[-0.8089942864103401,0,0.5878152601017433]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":2,"joint":"hinge","name":"wheel","parts":[{"id":26,"name":"wheel","children":[]},{"id":27,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.30416892759360503,-0.7553021223360266,0.41686386119189933],"direction":[0.8090385412222609,null,0.5877538748249578]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":23,"name":"wheel","children":[]},{"id":24,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.5127226919501656,-0.7553040791840641,-0.16545252729112614],"direction":[0.30896482276663473,0,-0.951072433318659]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":20,"name":"wheel","children":[]},{"id":21,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.001031447893218932,-0.7553306014453656,-0.549670400371962],"direction":[0.999999104663538,0,-0.00004348515435784859]},"limit":{"a":0,"b":0,"noLimit":true}}}]
\ No newline at end of file
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cd33b91f320fee4a1a49e7a986960105f0597ce73a085a9e5c8b1a2d97ccbf1
+size 30510
diff --git a/data/PartNet-Mobility/Chair/41434/parts_render/0.txt b/data/PartNet-Mobility/Chair/41434/parts_render/0.txt
new file mode 100644
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@@ -0,0 +1 @@
+0 chair Sitting Furniture
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41434/parts_render/1.png b/data/PartNet-Mobility/Chair/41434/parts_render/1.png
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+++ b/data/PartNet-Mobility/Chair/41434/parts_render/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 25294
diff --git a/data/PartNet-Mobility/Chair/41434/parts_render/1.txt b/data/PartNet-Mobility/Chair/41434/parts_render/1.txt
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/parts_render/1.txt
@@ -0,0 +1 @@
+1 chair_back Chair Back
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41434/parts_render/10.png b/data/PartNet-Mobility/Chair/41434/parts_render/10.png
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 22259
diff --git a/data/PartNet-Mobility/Chair/41434/parts_render/10.txt b/data/PartNet-Mobility/Chair/41434/parts_render/10.txt
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+++ b/data/PartNet-Mobility/Chair/41434/parts_render/10.txt
@@ -0,0 +1 @@
+10 leg Leg
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41434/parts_render/11.png b/data/PartNet-Mobility/Chair/41434/parts_render/11.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/data/PartNet-Mobility/Chair/41434/parts_render/11.txt b/data/PartNet-Mobility/Chair/41434/parts_render/11.txt
new file mode 100644
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+++ b/data/PartNet-Mobility/Chair/41434/parts_render/11.txt
@@ -0,0 +1 @@
+11 leg Leg
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41434/parts_render/12.png b/data/PartNet-Mobility/Chair/41434/parts_render/12.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1 @@
+12 leg Leg
\ No newline at end of file
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new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/data/PartNet-Mobility/Chair/41434/parts_render/13.txt b/data/PartNet-Mobility/Chair/41434/parts_render/13.txt
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+++ b/data/PartNet-Mobility/Chair/41434/parts_render/13.txt
@@ -0,0 +1 @@
+13 leg Leg
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41434/parts_render/14.png b/data/PartNet-Mobility/Chair/41434/parts_render/14.png
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 22836
diff --git a/data/PartNet-Mobility/Chair/41434/parts_render/14.txt b/data/PartNet-Mobility/Chair/41434/parts_render/14.txt
new file mode 100644
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+++ b/data/PartNet-Mobility/Chair/41434/parts_render/14.txt
@@ -0,0 +1 @@
+14 caster Wheel Assembly
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41434/parts_render/15.png b/data/PartNet-Mobility/Chair/41434/parts_render/15.png
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/data/PartNet-Mobility/Chair/41434/parts_render/15.txt b/data/PartNet-Mobility/Chair/41434/parts_render/15.txt
new file mode 100644
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+++ b/data/PartNet-Mobility/Chair/41434/parts_render/15.txt
@@ -0,0 +1 @@
+15 caster Wheel Assembly
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41434/parts_render/16.png b/data/PartNet-Mobility/Chair/41434/parts_render/16.png
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/41434/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/41434/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7dcc3e3095eae879c5266ab435094dd6b891698e
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..c203699e40820685e5cf528e5585da7c9a10564c
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index 0000000000000000000000000000000000000000..8960820b9086e5615c8a99bb711a44400abb6e1f
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diff --git a/data/PartNet-Mobility/Chair/41434/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/41434/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..89cf290d2c2171c083306265671904dc584510a3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/41434/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/41434/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f6ff349704f937c24e81db867122232a6e43c8e8
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41434/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Chair/41434/point_sample/sample-points-all-pts-nor-rgba-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..45076ab9b68b534aa49560e89d783d5bae498686
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diff --git a/data/PartNet-Mobility/Chair/41434/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/41434/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..764d4ccee27b7bdd8521db656e86e3b3b5055a82
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/41434/result.json b/data/PartNet-Mobility/Chair/41434/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..aed0ffc7ec2e6bfbee129b7a92389b9cd9d5e2dc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-24"], "id": 55, "name": "back_soft_surface"}], "id": 53, "name": "back_surface"}, {"text": "Back Connector", "objs": ["original-25"], "id": 54, "name": "back_connector"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Armrest Soft Surface", "objs": ["original-18"], "id": 49, "name": "armrest_soft_surface"}, {"text": "Arm Vertical Bar", "objs": ["new-12"], "id": 50, "name": "arm_vertical_bar"}, {"text": "Arm Horizontal Bar", "objs": ["new-13", "original-19"], "id": 51, "name": "arm_horizontal_bar"}, {"text": "Arm Connector", "objs": ["original-31", "original-34"], "id": 52, "name": "arm_connector"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Arm Connector", "objs": ["original-32", "original-35"], "id": 45, "name": "arm_connector"}, {"text": "Armrest Soft Surface", "objs": ["original-21"], "id": 46, "name": "armrest_soft_surface"}, {"text": "Arm Vertical Bar", "objs": ["new-11"], "id": 47, "name": "arm_vertical_bar"}, {"text": "Arm Horizontal Bar", "objs": ["new-10", "original-20"], "id": 48, "name": "arm_horizontal_bar"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-27"], "id": 40, "name": "seat_soft_surface"}], "id": 39, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-28"], "id": 41, "name": "seat_support"}, {"text": "Seat Support", "objs": ["original-36"], "id": 42, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-4"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["original-3"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-7"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-6"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-5"], "id": 13, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-11"], "id": 31, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["new-6"], "id": 32, "name": "wheel"}, {"text": "Wheel", "objs": ["new-7"], "id": 33, "name": "wheel"}], "id": 14, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-12"], "id": 28, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["new-5"], "id": 29, "name": "wheel"}, {"text": "Wheel", "objs": ["new-4"], "id": 30, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-8"], "id": 25, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["new-2"], "id": 26, "name": "wheel"}, {"text": "Wheel", "objs": ["new-3"], "id": 27, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-9"], "id": 22, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["new-0"], "id": 23, "name": "wheel"}, {"text": "Wheel", "objs": ["new-1"], "id": 24, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-10"], "id": 19, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["new-9"], "id": 20, "name": "wheel"}, {"text": "Wheel", "objs": ["new-8"], "id": 21, "name": "wheel"}], "id": 18, "name": "caster"}], "id": 8, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["original-29"], "id": 34, "name": "central_support"}, {"text": "Central Support", "objs": ["original-26"], "id": 35, "name": "central_support"}, {"text": "Central Support", "objs": ["original-2"], "id": 36, "name": "central_support"}, {"text": "Central Support", "objs": ["original-1"], "id": 37, "name": "central_support"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41434/result_after_merging.json b/data/PartNet-Mobility/Chair/41434/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..376d527157776a0481c17a337c40c6f4c9bfb69c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "chair", "ori_id": 0, "children": [{"text": "chair_back", "ori_id": 1, "children": [{"text": "back_surface", "ori_id": 53, "children": [{"objs": ["original-24"], "text": "back_single_surface", "id": 3, "name": "back_single_surface", "ori_id": 55}], "objs": ["original-24"], "name": "back_surface", "id": 2}, {"objs": ["original-25"], "text": "back_connector", "id": 4, "name": "back_connector", "ori_id": 54}], "objs": ["original-24", "original-25"], "name": "chair_back", "id": 1}, {"text": "chair_arm", "ori_id": 2, "children": [{"objs": ["original-18"], "text": "arm_horizontal_bar", "id": 6, "name": "arm_horizontal_bar", "ori_id": 49}, {"objs": ["new-12"], "text": "arm_near_vertical_bar", "id": 7, "name": "arm_near_vertical_bar", "ori_id": 50}, {"objs": ["new-13", "original-19"], "text": "arm_horizontal_bar", "id": 8, "name": "arm_horizontal_bar", "ori_id": 51}, {"objs": ["original-31", "original-34"], "text": "arm_connector", "id": 9, "name": "arm_connector", "ori_id": 52}], 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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41434/semantics.txt b/data/PartNet-Mobility/Chair/41434/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..267e6df9624e8b948a36b9b2bde50303ea7711a7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/semantics.txt
@@ -0,0 +1,12 @@
+link_0 hinge caster
+link_1 hinge caster
+link_2 hinge caster
+link_3 hinge caster
+link_4 hinge caster
+link_5 slider+ seat
+link_6 free chair_leg
+link_7 hinge wheel
+link_8 hinge wheel
+link_9 hinge wheel
+link_10 hinge wheel
+link_11 hinge wheel
diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/41434/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57b913cd1730cd83a1fb5ceda381d0b6e38570ca
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/textured_objs/new-0.mtl
@@ -0,0 +1,9 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.png
+
+
diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7e94bb3ac85101569ee933a644bec03031af269
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/textured_objs/new-0.obj
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/new-10.mtl b/data/PartNet-Mobility/Chair/41434/textured_objs/new-10.mtl
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/new-10.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/new-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c36c4f7617190a38661e3564fafd8c7a1ef829d
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/new-12.mtl b/data/PartNet-Mobility/Chair/41434/textured_objs/new-12.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/new-12.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/new-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e28c65aff340f9135f15e70cc521496cba388ce
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/new-13.mtl b/data/PartNet-Mobility/Chair/41434/textured_objs/new-13.mtl
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/new-13.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/new-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cba48fdece7251b319477f28f266849c6a47ead0
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/41434/textured_objs/new-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57b913cd1730cd83a1fb5ceda381d0b6e38570ca
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/41434/textured_objs/new-7.mtl
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/new-7.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/new-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc7f8c78b6a308ead36d926d96bae50a5957177
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/new-8.mtl b/data/PartNet-Mobility/Chair/41434/textured_objs/new-8.mtl
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/new-8.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/new-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..020cd803de5a180b991e0d788849544caf2b39b5
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/original-11.obj
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index 0000000000000000000000000000000000000000..ab85ca6867f4386fc3cb5f6161e0672057286d8f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/41434/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a55f67a0053b257df810abf3a2bf801ef79a8a1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/textured_objs/original-18.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_2.png
+
diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ac6145649f4600f7e19af1092170c940e2a79ac
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/textured_objs/original-18.obj
@@ -0,0 +1,1919 @@
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/41434/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0e7040b7c62fbf871d791eb1c03d0645f8853dc3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/textured_objs/original-24.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_3.png
+
diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..736cd277e88e21b729f45ff35821c4677d10135f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/textured_objs/original-24.obj
@@ -0,0 +1,5926 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
+o INSTANCE_23/mesh24/mesh24-geometry#mesh24-geometry
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/41434/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d36490fb850746383e130611417c9d44bbcd9916
--- /dev/null
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+map_Kd ../images/texture_1.png
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d9598595629eed4ef7ee634005724b9c8b13c1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/textured_objs/original-25.obj
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/41434/textured_objs/original-26.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/41434/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d36490fb850746383e130611417c9d44bbcd9916
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/textured_objs/original-7.mtl
@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_1.png
+
diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..909905368146e80aff16d31e2e601444379c7ecc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/41434/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d946d894005a8161a2cca070de249d356bd673c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/textured_objs/original-8.mtl
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+newmtl material_0_0
+illum 3
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+map_Kd ../images/texture_0.png
+
diff --git a/data/PartNet-Mobility/Chair/41434/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/41434/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4724492ed8b979158e8604e83374da2f5d626eb8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/textured_objs/original-8.obj
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+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>53 back_surface Back Surface</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>54 back_connector Back Connector</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>49 armrest_soft_surface Armrest Soft Surface</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 arm_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 arm_connector Arm Connector</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>45 arm_connector Arm Connector</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 armrest_soft_surface Armrest Soft Surface</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 arm_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>39 seat_surface Seat Surface</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>41 seat_support Seat Support</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 seat_support Seat Support</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 star_leg_base Star-shape Leg Base</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td><p>55 back_soft_surface Back Soft Surface</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>40 seat_soft_surface Seat Soft Surface</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 star_leg_set Star-shape Leg Set</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>34 central_support Central Support</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 central_support Central Support</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 central_support Central Support</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 central_support Central Support</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>9 leg Leg</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 leg Leg</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 caster Wheel Assembly</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>15 caster Wheel Assembly</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>31 caster_yoke Caster Yoke</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel Wheel</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel Wheel</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>28 caster_yoke Caster Yoke</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel Wheel</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 wheel Wheel</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>25 caster_yoke Caster Yoke</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 wheel Wheel</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 wheel Wheel</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>22 caster_yoke Caster Yoke</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 wheel Wheel</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 wheel Wheel</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>19 caster_yoke Caster Yoke</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 wheel Wheel</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 wheel Wheel</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41434/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/41434/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..76ff1e82a1317b1bb1a1280382b082595b89cd45
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41434/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_arm chair_arm</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 chair_arm chair_arm</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>15 chair_seat chair_seat</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>20 chair_base chair_base</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_connector back_connector</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 arm_connector arm_connector</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 arm_connector arm_connector</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>16 seat_surface seat_surface</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>18 seat_support seat_support</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 seat_support seat_support</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>21 star_leg_base star_leg_base</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>22 star_leg_set star_leg_set</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>43 central_support central_support</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 central_support central_support</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 central_support central_support</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 central_support central_support</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>23 leg leg</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 leg leg</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 leg leg</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 leg leg</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 leg leg</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 caster caster</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>31 caster caster</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>34 caster caster</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>37 caster caster</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>40 caster caster</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>29 wheel wheel</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 wheel wheel</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>32 wheel wheel</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel wheel</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>35 wheel wheel</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 wheel wheel</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>38 wheel wheel</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 wheel wheel</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>41 wheel wheel</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 wheel wheel</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41438/bounding_box.json b/data/PartNet-Mobility/Chair/41438/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..75a1d03cb83ba877440a22fd3e973b5d4b6b9ef0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41438/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.528866, -0.83815, -0.441001], "max": [0.518722, 0.764887, 0.567061]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41438/images/texture_0.jpg b/data/PartNet-Mobility/Chair/41438/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..70249d6fb77267e4488980fe055158a9941bf517
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41438/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8db1ec9d6e223119dbd62b36aecc169c8c5539d3c001a953eb0e4b8a9d025dd
+size 21378
diff --git a/data/PartNet-Mobility/Chair/41438/images/texture_1.jpg b/data/PartNet-Mobility/Chair/41438/images/texture_1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5409c4d7cdcab130224076e2b70e495d28c1bf56
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41438/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0f875e385dd2e57e59b451bf4cf8ffdb76945dba87b672a982ee119b5021a46
+size 1459
diff --git a/data/PartNet-Mobility/Chair/41438/meta.json b/data/PartNet-Mobility/Chair/41438/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..994577eb68b2cfe2a70501367a04a749533f09be
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41438/meta.json
@@ -0,0 +1 @@
+{"model_id": "9efb86c07170d7e897ec301178d1c7e", "anno_id": "41438", "user_id": "shape07", "time_in_sec": "922", "version": "4", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41438/mobility.urdf b/data/PartNet-Mobility/Chair/41438/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e7d34c9d563f71b6005f60c415fb4a7061f4d5d7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41438/mobility.urdf
@@ -0,0 +1,1496 @@
+<?xml version="1.0" ?>
+<robot name="partnet_9efb86c07170d7e897ec301178d1c7e">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="knob-79">
+			<origin xyz="-0.11531740759685634 0.08182875383061598 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-133.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-79">
+			<origin xyz="-0.11531740759685634 0.08182875383061598 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-132.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.11531740759685634 0.08182875383061598 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-133.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.11531740759685634 0.08182875383061598 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-132.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.12024661529232936 -0.08182875383061598 -0.10216263924825233"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_11"/>
+		<limit lower="-0.0" upper="0.3490658503988659"/>
+	</joint>
+	<link name="link_1">
+		<visual name="caster_yoke-77">
+			<origin xyz="-0.3045647040645687 0 -0.5228937208449126"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3045647040645687 0 -0.5228937208449126"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.3045647040645687 0 0.5228937208449126"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-78">
+			<origin xyz="-0.3463099700518328 0.812731198440788 -0.476705233587927"/>
+			<geometry>
+				<mesh filename="textured_objs/original-125.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3463099700518328 0.812731198440788 -0.476705233587927"/>
+			<geometry>
+				<mesh filename="textured_objs/original-125.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
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+		<axis xyz="0 -1 0"/>
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+		<parent link="link_11_helper"/>
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+	</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_11_helper"/>
+	<joint name="joint_13" type="prismatic">
+		<origin xyz="-0.004929207695473023 0 0.10216263924825233"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_11_helper"/>
+		<parent link="link_12"/>
+		<limit lower="0" upper="0.1"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/41438/mobility_v2.json b/data/PartNet-Mobility/Chair/41438/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..76043c83bc1a66840885d1429c574bb131d32f85
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41438/mobility_v2.json
@@ -0,0 +1 @@
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+version https://git-lfs.github.com/spec/v1
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