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+<robot name="partnet_u672de0d4-c18c-467d-970e-9054fe3db12a-0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="sphere-1">
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+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.008464432882613782 -0.3594520327906765 0.33427287596943167"/>
+		<axis xyz="-2.0889184199767353e-05 0.9015089336541771 -0.43276049046250803"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Globe/103969/mobility_v2.json b/data/PartNet-Mobility/Globe/103969/mobility_v2.json
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index 0000000000000000000000000000000000000000..fcb0773d059c5cf9560f279fc778f13252549792
--- /dev/null
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+++ b/data/PartNet-Mobility/Globe/103969/result.json
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+[{"text": "Globe", "name": "Globe", "id": 0, "children": [{"text": "sphere", "name": "sphere", "id": 1, "objs": ["original-7"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-5", "original-6", "original-1"]}]}]
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--- /dev/null
+++ b/data/PartNet-Mobility/Globe/103969/result_original.json
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+[{"id": 0, "name": "Globe", "text": "Globe", "children": [{"id": 1, "name": "sphere", "text": "sphere", "objs": ["original-7"]}]}]
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+link_0 hinge sphere
+link_1 free globe_frame
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new file mode 100644
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+newmtl material_0_0
+illum 3
+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/Globe/103969/textured_objs/original-1.obj b/data/PartNet-Mobility/Globe/103969/textured_objs/original-1.obj
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+++ b/data/PartNet-Mobility/Globe/103969/textured_objs/original-1.obj
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+# 1
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diff --git a/data/PartNet-Mobility/Globe/103969/textured_objs/original-3.mtl b/data/PartNet-Mobility/Globe/103969/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a081847ddac83fd91c1e1a76807a06234e4701c9
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/103969/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.42745098039215684 0.5568627450980392 0.8823529411764706 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Globe/103969/textured_objs/original-3.obj b/data/PartNet-Mobility/Globe/103969/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f0372c1aabdfc0638485105e149868f200ad21c
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/103969/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Globe/103969/textured_objs/original-4.mtl b/data/PartNet-Mobility/Globe/103969/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a081847ddac83fd91c1e1a76807a06234e4701c9
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/103969/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.42745098039215684 0.5568627450980392 0.8823529411764706 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Globe/103969/textured_objs/original-4.obj b/data/PartNet-Mobility/Globe/103969/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acd9bd8931a8a0a17aad6263ab8b59bd6fafa531
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/103969/textured_objs/original-4.obj
@@ -0,0 +1,1753 @@
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diff --git a/data/PartNet-Mobility/Globe/103969/textured_objs/original-5.mtl b/data/PartNet-Mobility/Globe/103969/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..47336fa3b4c37c16ceb8e05972a30338ddfb1ebb
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/103969/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.9019607843137255 0.9333333333333333 0.5686274509803921 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Globe/103969/textured_objs/original-5.obj b/data/PartNet-Mobility/Globe/103969/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c300e9b0aa4d15439ce82b1cd9d89ef523b7d6c3
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/103969/textured_objs/original-5.obj
@@ -0,0 +1,8949 @@
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diff --git a/data/PartNet-Mobility/Globe/103969/textured_objs/original-6.mtl b/data/PartNet-Mobility/Globe/103969/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a081847ddac83fd91c1e1a76807a06234e4701c9
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/103969/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.42745098039215684 0.5568627450980392 0.8823529411764706 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Globe/103969/textured_objs/original-6.obj b/data/PartNet-Mobility/Globe/103969/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3712777bff21255d5e742f05132916c62197404c
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/103969/textured_objs/original-6.obj
@@ -0,0 +1,9709 @@
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