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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/3028/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/3028/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37c249d44a448aa69c4aa02b94695a85790805a3
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/3028/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/3028/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9b248409a7f35a63784422af470d4b8aeda4011
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/new-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57a68c9c83cb848025139da158a7c2a8e1af4d0c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b80745e30ce8a7a074de08e1077a7c50522e6bb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/new-4.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/new-6.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/new-6.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/new-6.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/new-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18f71a7e99bdb2ee9b6fcd343ff1cb840b4d0e00
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/new-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83f133081d8937d01c793f38cbd132e5ecefec63
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/new-7.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/new-7.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/new-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8885a1334f5bb2126367d3b01356bb53c3d6c562
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/new-7.obj
@@ -0,0 +1,1546 @@
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/new-9.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/new-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c40f78f2f99b73d0f7b0248a4f1301dc5d3e9cb5
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/new-9.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/new-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4d8717570d6a46691f4c826836ce38a7baf0eca
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-1.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..65b0859df79294bb890b1d6dece5e3a81582bcb8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8117647058823529 0.8117647058823529 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-1.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90e73c29bfd321ef1e6b44a1b01becf1d9e3b9ac
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-1.obj
@@ -0,0 +1,4185 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-10.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/3028/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7b784d9aa43f876979087bedb0ed180e2baa527
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-10.obj
@@ -0,0 +1,105 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/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/3028/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0289779e4b19918bee8b3d9c03260266bbf53faa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-11.obj
@@ -0,0 +1,177 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o Obj_000011/mesh11/mesh11-geometry#mesh11-geometry
+v -0.039403 -0.755288 0.080328
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-12.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4123426f67d39957e4471abf4f678bb952a2c69
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-13.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a077d15cbec9999ea299de075b08dae30ea29e77
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f7e4de009981655fde2147d0d770e520a1fa159
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-14.obj
@@ -0,0 +1,99 @@
+# SSTK version 0.8.0
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+mtllib original-14.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cc47e975635dfbd5962619618ba159e50ea96c6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-15.obj
@@ -0,0 +1,630 @@
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+mtllib original-15.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..939234c3bd450dc3a46e5ba2e81751de291df971
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-16.obj
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+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70c0261d405747eca9a3b57361018626462d22d2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-17.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3afef26da37a59a6a7e53de8daa9227a326c605d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0380930c85cccc72baa54f7558ec162a0ada05df
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-18.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-19.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acc079bd4a6e71376fc285f1457ae46503b541df
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2196a24d0ca32172b0284e06c1f40d8d0e928faa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-20.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf23da227ff0fc1fe49b6240ba2e35d4df759ad7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-21.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c3f159fee94c6e79f0c18e99ed28c815864101b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6d0871757c77cb9a1b3a4fd815c63be86be7334
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-25.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6009dee45b464cf317f4750c5ce192d1644f1a95
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-26.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/3028/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d52e796278662ebc7547f3cc645bde37af026a1a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-26.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-27.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/3028/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..058c88a129c1172e225ce3937a0e131b54455ecf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-27.obj
@@ -0,0 +1,550 @@
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8c1fd7f1395d17306e48cef7df845789f048755
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/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/3028/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca9198c16021c61690254d2eb9bde49a8e0b4a2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-29.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f55ed227e397e7c5bd014fc75477487a41b8eede
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/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/3028/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7755b86c64002994db326f1fc8ffff138ccaa8f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-30.obj
@@ -0,0 +1,629 @@
+# SSTK version 0.8.0
+# 30
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7803893f5dad32298c37ab673cc2b08210820868
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/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/3028/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b8dd36b4ff13479b61da74e8ad4a9d5cc3dcf7d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-33.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/3028/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1190c758a11fd925e28df8ecffd7ce35c43591c3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-33.obj
@@ -0,0 +1,1271 @@
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-34.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/3028/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..187ac7ef657b7edb2e1567fc973c46b21e25d0c2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-34.obj
@@ -0,0 +1,211 @@
+# SSTK version 0.8.0
+# 34
+mtllib original-34.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-35.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cb3a0ba3fe95307da18c4d60e0bdc00642604ec
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-36.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-36.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-36.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab4df2336358c7d3b7497cdcaa6562b60ed7a3aa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-36.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3fe68cca79aadde1e44a05f871eef054e3b208a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-37.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/3028/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c24c6ced7ef5aad21db795a27bfd00dce907bff
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-37.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-38.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46dd370993fd9b98b16c8db26562d1e8fc51f2c5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-38.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-39.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0b84dbdc36fa835fa72170ff5312660f03b81b1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-39.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68b00231a4e4fc284c2e01026b35878b23709962
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-40.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-40.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d32f3da7ab3205b716d1698b0ab0d2f246aaaf8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-40.obj
@@ -0,0 +1,569 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-44.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-44.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1f8798a8aba8237d81f79e15ba61925ca6f1080
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-47.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-47.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-47.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece56a51f97f80f7263ab958d318d4a4eeada606
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-47.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-48.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..65b0859df79294bb890b1d6dece5e3a81582bcb8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-48.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/3028/textured_objs/original-48.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbd4dabf4a054636dc476413c3da5b117878e74a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-48.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-49.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-49.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-49.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ef6346ca0d2611beaafd02a3aca0f437d8e8a16
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-49.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/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/3028/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6316be299eb9db3dd9f893645d720d2104940e5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-5.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-50.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-50.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-50.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..209d25421fcdeda352ee4e2b0d82adf8a4bb4ec8
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-51.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-51.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-51.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28d80ef6c7a3708a094b2e2f380da6cdf5da41f8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-51.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-52.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-52.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-52.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..541de3143f03dafa62be80b362cb1d83b0f44884
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-52.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-53.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-53.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0 0 0 
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+
diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-53.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77e43331e070065e31dfa98cf45712b46c6e0932
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-53.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-54.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/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/3028/textured_objs/original-54.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3f204d335da530c73a864fbc792acc24aa698a4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-54.obj
@@ -0,0 +1,563 @@
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-56.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70c0261d405747eca9a3b57361018626462d22d2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-56.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-56.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..783f9b6235ce17af590ca262b9db0a17884e0e5e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-56.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-57.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-57.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/3028/textured_objs/original-57.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5925d30fba224c84bfcad20e8070f60095e63e29
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-57.obj
@@ -0,0 +1,274 @@
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-58.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-58.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-58.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-58.obj
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index 0000000000000000000000000000000000000000..e7a5e6711c477181850969c65e6a78d5e9bd0442
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-58.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-59.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..28dc498cfefaab8defb7a558a0f702d19a180f47
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-59.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20a6aef84b87e413195690bf32bd34a5ee4fb1c1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-59.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-6.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/3028/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0400000f73c1d3b33e9554cd720071ba8a9d2bf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-6.obj
@@ -0,0 +1,103 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o Obj_000006/mesh6/mesh6-geometry#mesh6-geometry
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-60.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-60.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/3028/textured_objs/original-60.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..607015946fcf0e839d718765e3d8510fb56c4754
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-60.obj
@@ -0,0 +1,381 @@
+# SSTK version 0.8.0
+# 60
+mtllib original-60.mtl
+o Obj_000058/mesh59/mesh59-geometry#mesh59-geometry
+v -0.433624 -0.807422 -0.101181
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-61.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-61.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-61.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f922fdb811cb05c67619194ab9b992f0199d4832
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+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-61.obj
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+# SSTK version 0.8.0
+# 61
+mtllib original-61.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-62.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-62.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/3028/textured_objs/original-62.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fada3d37d1c08e9aba295d76ad9f00f3192bd431
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-62.obj
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+# SSTK version 0.8.0
+# 62
+mtllib original-62.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-63.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-63.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-63.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afcc8fd526a075b789f14649695e09067185ec25
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-63.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-64.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-64.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-64.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a522d2b641e2f658da4ad5dd8fdabad2ae0a8d33
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-64.obj
@@ -0,0 +1,5399 @@
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+mtllib original-64.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-65.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-65.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/3028/textured_objs/original-65.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eab3e61dfa496f9ae26a175280d6f2eed386c22a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-65.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-66.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-66.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-66.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30e86a4ef26d01af3395cfdfb6a804a296556806
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-66.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-67.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-67.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/3028/textured_objs/original-67.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..588d0aef0dfc763511819b859d60a73dae46af2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-67.obj
@@ -0,0 +1,5395 @@
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-68.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..65b0859df79294bb890b1d6dece5e3a81582bcb8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-68.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Kd 0.8117647058823529 0.8117647058823529 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-68.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5099e29e47f860d03b7d98b631389591716c0204
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-68.obj
@@ -0,0 +1,678 @@
+# SSTK version 0.8.0
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+mtllib original-68.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-7.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15ddf7157a3c30688d0c29b86507668a0a00f151
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-8.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bba21b7bdfd87974c1ddcb00d0072277f0d93560
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/3028/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-9.mtl
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diff --git a/data/PartNet-Mobility/Chair/3028/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/3028/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8de263b8534ef23b9725678bed8406730ba403f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3028/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Chair/3028/tree_hier.html b/data/PartNet-Mobility/Chair/3028/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..b3c3d166122fc0bcf4c7999d3f66b36afc1644ea
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+++ b/data/PartNet-Mobility/Chair/3028/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><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></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></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><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>73 back_surface Back Surface</p><a href="parts_render/73.png"><img src="parts_render/73.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>74 back_connector Back Connector</p><a href="parts_render/74.png"><img src="parts_render/74.png" width="100px" height="100px"/></a></td><td></td><td><p>76 back_support Back Support</p><a href="parts_render/76.png"><img src="parts_render/76.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>67 armrest_soft_surface Armrest Soft Surface</p><a href="parts_render/67.png"><img src="parts_render/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/68.png"><img src="parts_render/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 arm_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/69.png"><img src="parts_render/69.png" width="100px" height="100px"/></a></td><td></td><td><p>70 arm_connector Arm Connector</p><a href="parts_render/70.png"><img src="parts_render/70.png" width="100px" height="100px"/></a></td><td></td><td><p>82 other Handrail support (other)</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><p>61 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 arm_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 arm_connector Arm Connector</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 armrest_soft_surface Armrest Soft Surface</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td><td></td><td><p>84 other Handrail support (other)</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><p>58 seat_surface Seat 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><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>75 back_soft_surface Back Soft Surface</p><a href="parts_render/75.png"><img src="parts_render/75.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><p>83 other_leaf other_leaf</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></td><td></td><td></td><td></td><td></td><td><p>85 other_leaf other_leaf</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><p>59 seat_soft_surface Seat Soft Surface</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>11 star_leg_set Star-shape Leg Set</p><a href="parts_render/11.png"><img src="parts_render/11.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>43 central_support Central Support</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></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>45 central_support Central Support</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 mechanical_control Mechanical Control</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>47 seat_connector Seat Connector</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td><p>50 central_support Central Support</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 footrest_ring Footrest Ring</p><a href="parts_render/51.png"><img src="parts_render/51.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><p>52 seat_connector Seat Connector</p><a href="parts_render/52.png"><img src="parts_render/52.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><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 leg Leg</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 leg Leg</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></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><p>20 caster Wheel Assembly</p><a href="parts_render/20.png"><img src="parts_render/20.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>21 caster Wheel Assembly</p><a href="parts_render/21.png"><img src="parts_render/21.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><p>48 lever Lever</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 mounting_plate Mounting Plane</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></td><td><p>53 footrest_bar Footrest Bar</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 footrest_bar Footrest 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 footrest_bar Footrest Bar</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 footrest_bar Footrest Bar</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 footrest_circular Footrest Circle</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td><p>77 other Junction (other)</p><a href="parts_render/77.png"><img src="parts_render/77.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><p>39 caster_yoke Caster Yoke</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 caster_stem Caster Stem</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 wheel Wheel</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></td><td><p>35 caster_yoke Caster Yoke</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 caster_stem Caster Stem</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 wheel Wheel</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></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 caster_stem Caster Stem</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><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></td><td><p>27 caster_yoke Caster Yoke</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 caster_stem Caster Stem</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>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><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 caster_stem Caster Stem</p><a href="parts_render/26.png"><img src="parts_render/26.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><p>78 other_leaf other_leaf</p><a href="parts_render/78.png"><img src="parts_render/78.png" width="100px" height="100px"/></a></td><td></td><td><p>79 other_leaf other_leaf</p><a href="parts_render/79.png"><img src="parts_render/79.png" width="100px" height="100px"/></a></td><td></td><td><p>80 other_leaf other_leaf</p><a href="parts_render/80.png"><img src="parts_render/80.png" width="100px" height="100px"/></a></td><td></td><td><p>81 other_leaf other_leaf</p><a href="parts_render/81.png"><img src="parts_render/81.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><p>6 chair_arm chair_arm</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>11 chair_arm chair_arm</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 chair_seat chair_seat</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></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_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><p>5 back_support back_support</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><p>7 arm_horizontal_bar arm_horizontal_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_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_connector arm_connector</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><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_horizontal_bar arm_horizontal_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_connector arm_connector</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_horizontal_bar arm_horizontal_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></td><td><p>17 seat_surface seat_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><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></td><td></td><td><p>18 seat_single_surface seat_single_surface</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><p>21 star_leg_set star_leg_set</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>47 central_support central_support</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 central_support central_support</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><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><td></td><td></td><td><p>52 central_support central_support</p><a href="parts_render_after_merging/52.png"><img src="parts_render_after_merging/52.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><p>22 leg leg</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 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 caster caster</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><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></td><td></td><td><p>35 caster caster</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></td><td></td><td></td><td></td><td></td><td><p>39 caster caster</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></td><td></td><td></td><td></td><td><p>43 caster caster</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></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>51 lever lever</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><p>28 caster_stem caster_stem</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 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 caster_stem caster_stem</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><p>34 wheel wheel</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><p>36 caster_stem caster_stem</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><p>37 wheel wheel</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><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></td><td><p>40 caster_stem caster_stem</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><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><td></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><p>45 wheel wheel</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 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></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3091/bounding_box.json b/data/PartNet-Mobility/Chair/3091/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e51d4a4841c249c4a0c91680a61c6f2a76765b4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.561936, -0.766473, -0.422525], "max": [0.462384, 0.572103, 0.70538]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3091/meta.json b/data/PartNet-Mobility/Chair/3091/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ede082b17ce3f2e2b34f3ef3ba55c01f8d0e8f1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/meta.json
@@ -0,0 +1 @@
+{"model_id": "33334eb57a9d7bbba19d006f28e25379", "anno_id": "3091", "user_id": "xiangchaoqun", "time_in_sec": "180", "version": "4", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3091/mobility.urdf b/data/PartNet-Mobility/Chair/3091/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9ce27b0e5c385fbd11c0f8d6544b8a18021ca2c4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/mobility.urdf
@@ -0,0 +1,404 @@
+<?xml version="1.0" ?>
+<robot name="partnet_33334eb57a9d7bbba19d006f28e25379">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever-31">
+			<origin xyz="-0.023739817023277376 0.10203401433473354 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-31">
+			<origin xyz="-0.023739817023277376 0.10203401433473354 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.023739817023277376 0.10203401433473354 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.023739817023277376 0.10203401433473354 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.02935945473109136 -0.10203401433473354 -0.17208649322207048"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_11"/>
+		<limit lower="-0.5235987755982988" upper="-0.0"/>
+	</joint>
+	<link name="link_1">
+		<visual name="caster_yoke-26">
+			<origin xyz="0.538118 0 -0.1852625"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.538118 0 -0.1852625"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.538118 0 0.1852625"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-27">
+			<origin xyz="0.024371331458056648 0.7446520244248956 0.052851980990352466"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.024371331458056648 0.7446520244248956 0.052851980990352466"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.5137466685419433 -0.7446520244248956 -0.23811448099035246"/>
+		<axis xyz="-0.9080440658613925 -1.0894780194069185e-05 0.4188746522949496"/>
+		<child link="link_2"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_3">
+		<visual name="caster_yoke-24">
+			<origin xyz="0.17842249999999998 0 0.33047550000000003"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.17842249999999998 0 0.33047550000000003"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.17842249999999998 0 -0.33047550000000003"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_3"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-25">
+			<origin xyz="-0.06749556341378374 0.7446816317413222 0.06140626318229933"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.06749556341378374 0.7446816317413222 0.06140626318229933"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="0.24591806341378372 -0.7446816317413222 0.2690692368177007"/>
+		<axis xyz="-0.6725622076262955 6.467793199712236e-05 -0.7400405885420129"/>
+		<child link="link_4"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_5">
+		<visual name="caster_yoke-22">
+			<origin xyz="-0.41532 0 0.1505465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.41532 0 0.1505465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.41532 0 -0.1505465"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_5"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-23">
+			<origin xyz="-0.2538416721526808 0.7446796273201717 -0.14137683772655119"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2538416721526808 0.7446796273201717 -0.14137683772655119"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.16147832784731925 -0.7446796273201717 0.2919233377265512"/>
+		<axis xyz="0.48671734425418955 6.453746365024279e-05 -0.873559512933758"/>
+		<child link="link_6"/>
+		<parent link="link_5"/>
+	</joint>
+	<link name="link_7">
+		<visual name="caster_yoke-20">
+			<origin xyz="-0.43439444023925006 0 -0.4702389288888149"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.43439444023925006 0 -0.4702389288888149"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.43439444023925006 0 0.4702389288888149"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_7"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-21">
+			<origin xyz="0.07023230639629283 0.7446392226681613 -0.3774118326254576"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.07023230639629283 0.7446392226681613 -0.3774118326254576"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.5046267466355429 -0.7446392226681613 -0.09282709626335733"/>
+		<axis xyz="0.9831356279424239 -3.7050935089839896e-05 0.1828779256703332"/>
+		<child link="link_8"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_9">
+		<visual name="caster_yoke-18">
+			<origin xyz="0.16708 0 -0.6799649999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.16708 0 -0.6799649999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.16708 0 0.6799649999999999"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_9"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel-19">
+			<origin xyz="0.234709830298245 0.7446254575550919 -0.02378568414362775"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.234709830298245 0.7446254575550919 -0.02378568414362775"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.06762983029824499 -0.7446254575550919 -0.6561793158563722"/>
+		<axis xyz="0.10098026961460889 -4.963499702441736e-05 0.9948884272544978"/>
+		<child link="link_10"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_11">
+		<visual name="back_hard_surface-36">
+			<origin xyz="0.0056196377078139865 0 -0.17208649322207048"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_support-35">
+			<origin xyz="0.0056196377078139865 0 -0.17208649322207048"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_hard_surface-32">
+			<origin xyz="0.0056196377078139865 0 -0.17208649322207048"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-29">
+			<origin xyz="0.0056196377078139865 0 -0.17208649322207048"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-33">
+			<origin xyz="0.0056196377078139865 0 -0.17208649322207048"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-5">
+			<origin xyz="0.0056196377078139865 0 -0.17208649322207048"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0056196377078139865 0 -0.17208649322207048"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0056196377078139865 0 -0.17208649322207048"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0056196377078139865 0 -0.17208649322207048"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0056196377078139865 0 -0.17208649322207048"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0056196377078139865 0 -0.17208649322207048"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0056196377078139865 0 -0.17208649322207048"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_11"/>
+		<parent link="link_11_helper"/>
+	</joint>
+	<link name="link_12">
+		<visual name="central_support-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_12"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_11_helper"/>
+	<joint name="joint_13" type="prismatic">
+		<origin xyz="-0.0056196377078139865 0 0.17208649322207048"/>
+		<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/3091/mobility_v2.json b/data/PartNet-Mobility/Chair/3091/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf6c79bdc54704afedad5b8970917870e4415340
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":11,"joint":"hinge","name":"lever","parts":[{"id":31,"name":"lever"}],"jointData":{"axis":{"origin":[0.023739817023277376,-0.10203401433473354,0],"direction":[0,0,1]},"limit":{"a":30,"b":0,"noLimit":false}}},{"id":1,"parent":12,"joint":"hinge","name":"caster_yoke","parts":[{"id":26,"name":"caster_yoke"}],"jointData":{"axis":{"origin":[-0.538118,0,0.1852625],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":1,"joint":"hinge","name":"wheel","parts":[{"id":27,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.024371331458056648,-0.7446520244248956,-0.052851980990352466],"direction":[-0.9080440658613925,-0.000010894780194069185,0.4188746522949496]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":12,"joint":"hinge","name":"caster_yoke","parts":[{"id":24,"name":"caster_yoke"}],"jointData":{"axis":{"origin":[-0.17842249999999998,0,-0.33047550000000003],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":25,"name":"wheel"}],"jointData":{"axis":{"origin":[0.06749556341378374,-0.7446816317413222,-0.06140626318229933],"direction":[-0.6725622076262955,0.00006467793199712236,-0.7400405885420129]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":12,"joint":"hinge","name":"caster_yoke","parts":[{"id":22,"name":"caster_yoke"}],"jointData":{"axis":{"origin":[0.41532,0,-0.1505465],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":5,"joint":"hinge","name":"wheel","parts":[{"id":23,"name":"wheel"}],"jointData":{"axis":{"origin":[0.2538416721526808,-0.7446796273201717,0.14137683772655119],"direction":[0.48671734425418955,0.00006453746365024279,-0.873559512933758]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":12,"joint":"hinge","name":"caster_yoke","parts":[{"id":20,"name":"caster_yoke"}],"jointData":{"axis":{"origin":[0.43439444023925006,0,0.4702389288888149],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":21,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.07023230639629283,-0.7446392226681613,0.3774118326254576],"direction":[0.9831356279424239,-0.000037050935089839896,0.1828779256703332]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":12,"joint":"hinge","name":"caster_yoke","parts":[{"id":18,"name":"caster_yoke"}],"jointData":{"axis":{"origin":[-0.16708,0,0.6799649999999999],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":19,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.234709830298245,-0.7446254575550919,0.02378568414362775],"direction":[0.10098026961460889,-0.00004963499702441736,0.9948884272544978]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":12,"joint":"slider","name":"chair_back","parts":[{"id":36,"name":"back_hard_surface"},{"id":35,"name":"back_support"},{"id":32,"name":"seat_hard_surface"},{"id":29,"name":"seat_support"},{"id":33,"name":"seat_support"},{"id":5,"name":"central_support"}],"jointData":{"axis":{"origin":[-0.0056196377078139865,0,0.17208649322207048],"direction":[0,1,0]},"limit":{"a":0,"b":-0.1,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":12,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":6,"name":"central_support"},{"id":8,"name":"leg"},{"id":9,"name":"leg"},{"id":10,"name":"leg"},{"id":11,"name":"leg"},{"id":12,"name":"leg"}],"jointData":{}}]
\ No newline at end of file
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@@ -0,0 +1,3 @@
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\ No newline at end of file
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+++ b/data/PartNet-Mobility/Chair/3091/parts_render/1.txt
@@ -0,0 +1 @@
+1 chair_back Chair Back
\ No newline at end of file
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+10 leg Leg
\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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diff --git a/data/PartNet-Mobility/Chair/3091/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/3091/point_sample/ply-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/3091/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/3091/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..73c07f247adf80bd40c3ec7dea5bde57ac162fcb
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3091/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/3091/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc531105732d9e84c6b6c3df707c173f61cf2c92
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3091/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/3091/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..24c520601c00338161c738e3ee233d384a13dd68
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/3091/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/3091/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..36082cc4670b6cbcb2049b7c44bb94e3e9aa639e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3091/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/3091/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..125b79f5866490c0b0d75de9e29ce0b8dd90762a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/3091/result.json b/data/PartNet-Mobility/Chair/3091/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..5529151be3e412259dd32de8bb0a96c0637173a2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Hard Surface", "objs": ["new-3"], "id": 36, "name": "back_hard_surface"}], "id": 34, "name": "back_surface"}, {"text": "Back Support", "objs": ["new-1"], "id": 35, "name": "back_support"}], "id": 1, "name": "chair_back"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Hard Surface", "objs": ["new-2"], "id": 32, "name": "seat_hard_surface"}], "id": 28, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-7"], "id": 29, "name": "seat_support"}, {"text": "Seat Support", "objs": ["new-0"], "id": 33, "name": "seat_support"}], "id": 2, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-1"], "id": 5, "name": "central_support"}, {"text": "Central Support", "objs": ["original-8"], "id": 6, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-29"], "id": 8, "name": "leg"}, {"text": "Leg", "objs": ["original-25"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["original-21"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-17"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-10"], "id": 12, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-13"], "id": 26, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-12"], "id": 27, "name": "wheel"}], "id": 13, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-16"], "id": 24, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-15"], "id": 25, "name": "wheel"}], "id": 14, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-20"], "id": 22, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-19"], "id": 23, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-28"], "id": 20, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-27"], "id": 21, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-24"], "id": 18, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-23"], "id": 19, "name": "wheel"}], "id": 17, "name": "caster"}], "id": 7, "name": "star_leg_set"}, {"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-4", "original-5"], "id": 31, "name": "lever"}], "id": 30, "name": "mechanical_control"}], "id": 4, "name": "star_leg_base"}], "id": 3, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3091/result_after_merging.json b/data/PartNet-Mobility/Chair/3091/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..8033e98cffa0a0e6ecde6b9381f5308e92fe9c0a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "chair", "children": [{"text": "chair_back", "children": [{"text": "back_surface", "children": [{"text": "back_single_surface", "objs": ["new-3"], "name": "back_single_surface", "id": 3, "ori_id": 36}], "id": 2, "ori_id": 34, "objs": ["new-3"], "name": "back_surface"}, {"text": "back_support", "objs": ["new-1"], "name": "back_support", "id": 4, "ori_id": 35}], "id": 1, "ori_id": 1, "objs": ["new-3", "new-1"], "name": "chair_back"}, {"text": "chair_seat", "children": [{"text": "seat_surface", "children": [{"text": "seat_single_surface", "objs": ["new-2"], "name": "seat_single_surface", "id": 7, "ori_id": 32}], "id": 6, "ori_id": 28, "objs": ["new-2"], "name": "seat_surface"}, {"text": "seat_support", "objs": ["original-7"], "name": "seat_support", "id": 8, "ori_id": 29}, {"text": "seat_support", "objs": ["new-0"], "name": "seat_support", "id": 9, "ori_id": 33}], "id": 5, "ori_id": 2, "objs": ["new-2", "original-7", "new-0"], "name": "chair_seat"}, {"text": "chair_base", "children": [{"text": "star_leg_base", "children": [{"text": "central_support", "objs": ["original-1"], "name": "central_support", "id": 12, "ori_id": 5}, {"text": "central_support", "objs": ["original-8"], "name": "central_support", "id": 13, "ori_id": 6}, {"text": "star_leg_set", "children": [{"text": "leg", "objs": ["original-29"], "name": "leg", "id": 15, "ori_id": 8}, {"text": "leg", "objs": ["original-25"], "name": "leg", "id": 16, "ori_id": 9}, {"text": "leg", "objs": ["original-21"], "name": "leg", "id": 17, "ori_id": 10}, {"text": "leg", "objs": ["original-17"], "name": "leg", "id": 18, "ori_id": 11}, {"text": "leg", "objs": ["original-10"], "name": "leg", "id": 19, "ori_id": 12}, {"text": "caster", "children": [{"text": "wheel", "objs": ["original-12"], "name": "wheel", "id": 21, "ori_id": 27}], "id": 20, "ori_id": 13, "objs": ["original-13", "original-12"], "name": "caster"}, {"text": "caster", "children": [{"text": "wheel", "objs": ["original-15"], "name": "wheel", "id": 23, "ori_id": 25}], "id": 22, "ori_id": 14, "objs": ["original-16", "original-15"], "name": "caster"}, {"text": "caster", "children": [{"text": "wheel", "objs": ["original-19"], "name": "wheel", "id": 25, "ori_id": 23}], "id": 24, "ori_id": 15, "objs": ["original-20", "original-19"], "name": "caster"}, {"text": "caster", "children": [{"text": "wheel", "objs": ["original-27"], "name": "wheel", "id": 27, "ori_id": 21}], "id": 26, "ori_id": 16, "objs": ["original-28", "original-27"], "name": "caster"}, {"text": "caster", "children": [{"text": "wheel", "objs": ["original-23"], "name": "wheel", "id": 29, "ori_id": 19}], "id": 28, "ori_id": 17, "objs": ["original-24", "original-23"], "name": "caster"}], "id": 14, "ori_id": 7, "objs": ["original-29", "original-25", "original-21", "original-17", "original-10", "original-13", "original-12", "original-16", "original-15", "original-20", "original-19", "original-28", "original-27", "original-24", "original-23"], "name": "star_leg_set"}, {"text": "mechanical_control", "children": [{"text": "lever", "objs": ["original-4", "original-5"], "name": "lever", "id": 31, "ori_id": 31}], "id": 30, "ori_id": 30, "objs": ["original-4", "original-5"], "name": "mechanical_control"}], "id": 11, "ori_id": 4, "objs": ["original-1", "original-8", "original-29", "original-25", "original-21", "original-17", "original-10", "original-13", "original-12", "original-16", "original-15", "original-20", "original-19", "original-28", "original-27", "original-24", "original-23", "original-4", "original-5"], "name": "star_leg_base"}], "id": 10, "ori_id": 3, "objs": ["original-1", "original-8", "original-29", "original-25", "original-21", "original-17", "original-10", "original-13", "original-12", "original-16", "original-15", "original-20", "original-19", "original-28", "original-27", "original-24", "original-23", "original-4", "original-5"], "name": "chair_base"}], "id": 0, "ori_id": 0, "objs": ["new-3", "new-1", "new-2", "original-7", "new-0", "original-1", "original-8", "original-29", "original-25", "original-21", "original-17", "original-10", "original-13", "original-12", "original-16", "original-15", "original-20", "original-19", "original-28", "original-27", "original-24", "original-23", "original-4", "original-5"], "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3091/semantics.txt b/data/PartNet-Mobility/Chair/3091/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a1b04f92709d384f8daaf73a7b6570497a86eef1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/semantics.txt
@@ -0,0 +1,13 @@
+link_0 hinge lever
+link_1 hinge caster
+link_2 hinge wheel
+link_3 hinge caster
+link_4 hinge wheel
+link_5 hinge caster
+link_6 hinge wheel
+link_7 hinge caster
+link_8 hinge wheel
+link_9 hinge caster
+link_10 hinge wheel
+link_11 slider+ seat
+link_12 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6b66f116b4c7f5e58a233e9ac76ad17e761c3b7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/new-0.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fe47c4d88242a2e30d06648b1760e2d418bc98e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/new-1.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/new-1.obj
new file mode 100644
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..27b75340f72eae14a34a5441e149dd8b9e3ef75b
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-1.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc14bb53338669ec7fc1bce1e310351af01b97b1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-1.mtl
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-1.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9be01d32dbe240bc43b68919cdd5e45dda2bf35c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-1.obj
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc14bb53338669ec7fc1bce1e310351af01b97b1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4820da0ae63c0d23ba56f679cefb52030f397e93
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b1f913cace0a9362530e113f3314b31f62d0b369
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-12.mtl
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94d06471ce1b011b3f85018531e3b331008af44d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0f85d4482a178376070e3165725cff7f0b9c3abf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-13.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1d375980d28bebc3d28e0387c864a3da77e4651
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-13.obj
@@ -0,0 +1,330 @@
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b1f913cace0a9362530e113f3314b31f62d0b369
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-15.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..794cca4896c861fb16f1bd37e59b59602ef41b5f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0f85d4482a178376070e3165725cff7f0b9c3abf
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6272984bc6b8310af479f653ecad99da0c1d1de6
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc14bb53338669ec7fc1bce1e310351af01b97b1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef88d310ff3f26647b33842479c97be535168bc0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b1f913cace0a9362530e113f3314b31f62d0b369
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-19.mtl
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bd815dd276c7e0c4ee4dbc83117bada999f5ac8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0f85d4482a178376070e3165725cff7f0b9c3abf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-20.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75c5802262eb764731bee07a6fc14f7e10c1b0ec
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-20.obj
@@ -0,0 +1,330 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc14bb53338669ec7fc1bce1e310351af01b97b1
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+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-21.mtl
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-21.obj
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index 0000000000000000000000000000000000000000..6f50834e5d3e8628bdc797f50dfb98be9ce05be9
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-23.mtl
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index 0000000000000000000000000000000000000000..b1f913cace0a9362530e113f3314b31f62d0b369
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-23.obj
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index 0000000000000000000000000000000000000000..591aa5d2ec80b8647f0361b7cee882c0207fa857
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0f85d4482a178376070e3165725cff7f0b9c3abf
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..063d73831aa85fff088913b80345849f68c237a1
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc14bb53338669ec7fc1bce1e310351af01b97b1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed580a655de0f85d04d489a239265fdcefe53208
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-25.obj
@@ -0,0 +1,56 @@
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b1f913cace0a9362530e113f3314b31f62d0b369
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-27.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f3a3725e5e53a0418a105752403ff8fdfd81545
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-27.obj
@@ -0,0 +1,264 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0f85d4482a178376070e3165725cff7f0b9c3abf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-28.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2169b309bd070e3084381a35c2e22e569cb732ce
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-28.obj
@@ -0,0 +1,330 @@
+# SSTK version 0.8.0
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+mtllib original-28.mtl
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc14bb53338669ec7fc1bce1e310351af01b97b1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcd9aff931fb28ec895cc48194974edd87914322
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-29.obj
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c3a490afac6bdd671fda19f6cb66e5548d1c1a4
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b39e4753a90547e1d4231a05fb72ddbfd7204470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-5.mtl
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..262797d6bc998513c2eba432c52a1f24617d9ee6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/3091/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc14bb53338669ec7fc1bce1e310351af01b97b1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-7.mtl
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30be1dbbbaf309d4285fc8e107f18aa537f850da
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/textured_objs/original-7.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..0f85d4482a178376070e3165725cff7f0b9c3abf
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diff --git a/data/PartNet-Mobility/Chair/3091/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/3091/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beae404007c7ebc2ffd509afa789dccf5e1db233
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diff --git a/data/PartNet-Mobility/Chair/3091/tree_hier.html b/data/PartNet-Mobility/Chair/3091/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..151dd2d536ffb021c5bf979207aa4e1bddd91550
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/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><p>2 chair_seat Chair Seat</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><p>3 chair_base Chair Base</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td></tr><tr><td><p>34 back_surface Back Surface</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>35 back_support Back Support</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>28 seat_surface Seat Surface</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 seat_support Seat Support</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>33 seat_support Seat Support</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>4 star_leg_base Star-shape Leg Base</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td></tr><tr><td><p>36 back_hard_surface Back Hard Surface</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>32 seat_hard_surface Seat Hard Surface</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>5 central_support Central Support</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 central_support Central Support</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 star_leg_set Star-shape Leg Set</p><a href="parts_render/7.png"><img src="parts_render/7.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>30 mechanical_control Mechanical Control</p><a href="parts_render/30.png"><img src="parts_render/30.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><p>8 leg Leg</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></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 caster Wheel Assembly</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td></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><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><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><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><p>31 lever Lever</p><a href="parts_render/31.png"><img src="parts_render/31.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><p>26 caster_yoke Caster Yoke</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>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 wheel Wheel</p><a href="parts_render/25.png"><img src="parts_render/25.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></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 wheel Wheel</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>18 caster_yoke Caster Yoke</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 wheel Wheel</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3091/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/3091/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..7b94a1f40a26dcfe1daf2bfd9a9bcafb7f2bb753
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3091/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_seat chair_seat</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><p>10 chair_base chair_base</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.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 seat_surface seat_surface</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></td><td><p>8 seat_support seat_support</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 seat_support seat_support</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 star_leg_base star_leg_base</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.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><p>7 seat_single_surface seat_single_surface</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></td><td></td><td></td><td></td><td></td><td><p>12 central_support central_support</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 central_support central_support</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 star_leg_set star_leg_set</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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 mechanical_control mechanical_control</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.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><p>15 leg leg</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 leg leg</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 leg leg</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><p>18 leg leg</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 leg leg</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><p>20 caster caster</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><p>22 caster caster</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><p>24 caster caster</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></td><td><p>26 caster caster</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></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><p>31 lever lever</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.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><p>21 wheel wheel</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 wheel wheel</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><p>25 wheel wheel</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></td><td><p>27 wheel wheel</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><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></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3140/bounding_box.json b/data/PartNet-Mobility/Chair/3140/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..d297ef7f7b846b19bf5d044ed371ea32c0afc9b8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.49696, -0.834406, -0.486915], "max": [0.524612, 0.768575, 0.53449]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3140/meta.json b/data/PartNet-Mobility/Chair/3140/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8621348cc59c890a7faf5d5a82f9a3291d4d5a18
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/meta.json
@@ -0,0 +1 @@
+{"model_id": "341c9b0583d31770492d9da2668ec34c", "anno_id": "3140", "user_id": "zhouwenxian", "time_in_sec": "874", "version": "4", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3140/mobility.urdf b/data/PartNet-Mobility/Chair/3140/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f8ba39d0c86d80bb0e1e0e435a6ca10281c8baae
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/mobility.urdf
@@ -0,0 +1,644 @@
+<?xml version="1.0" ?>
+<robot name="partnet_341c9b0583d31770492d9da2668ec34c">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever-41">
+			<origin xyz="0.08169842068105933 0.25677886419599255 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-41">
+			<origin xyz="0.08169842068105933 0.25677886419599255 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.08169842068105933 0.25677886419599255 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.08169842068105933 0.25677886419599255 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.09527135251130261 -0.25677886419599255 -0.034372763496528506"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_12"/>
+		<limit lower="0.0" upper="0.3490658503988659"/>
+	</joint>
+	<link name="link_1">
+		<visual name="knob-42">
+			<origin xyz="-0.013645622519959788 0 -0.19128354446354384"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.013645622519959788 0 -0.19128354446354384"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="7.269068971649598e-05 0 0.15691078096701533"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-39">
+			<origin xyz="0 0.7938941896915044 0.09078165648146667"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7938941896915044 0.09078165648146667"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.4804058032034338 -0.7938941896915044 0.02389957364683236"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-40">
+			<origin xyz="0 0.7938941896915044 0.09078165648146667"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7938941896915044 0.09078165648146667"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.4804058032034338 -0.7938941896915044 0.02389957364683236"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-35">
+			<origin xyz="0 0.7933745990652205 -0.4595298193423211"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7933745990652205 -0.4595298193423211"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.30371666124408514 -0.7933745990652205 0.02368880415553476"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_4"/>
+		<parent link="link_15"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-36">
+			<origin xyz="0 0.7933745990652205 -0.4595298193423211"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7933745990652205 -0.4595298193423211"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.30371666124408514 -0.7933745990652205 0.02368880415553476"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_5"/>
+		<parent link="link_15"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-31">
+			<origin xyz="0 0.7933761769550939 0.4307973143593477"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7933761769550939 0.4307973143593477"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.013573 -0.7933761769550939 0.028040185640652304"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_6"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-32">
+			<origin xyz="0 0.7933761769550939 0.4307973143593477"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7933761769550939 0.4307973143593477"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.013573 -0.7933761769550939 0.028040185640652304"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_7"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-27">
+			<origin xyz="0 0.7939088138577977 0.0907147196115412"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7939088138577977 0.0907147196115412"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.45134597841360813 -0.7939088138577977 0.012394890338140313"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_8"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-28">
+			<origin xyz="0 0.7939088138577977 0.0907147196115412"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7939088138577977 0.0907147196115412"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.45134597841360813 -0.7939088138577977 0.012394890338140313"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_9"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel-22">
+			<origin xyz="0 0.7939044840406075 -0.4606405983330391"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7939044840406075 -0.4606405983330391"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.27654458395902237 -0.7939044840406075 0.025896178388477575"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_10"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel-23">
+			<origin xyz="0 0.7939044840406075 -0.4606405983330391"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7939044840406075 -0.4606405983330391"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="0.27654458395902237 -0.7939044840406075 0.025896178388477575"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_11"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_12">
+		<visual name="back_soft_surface-54">
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-50">
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-51">
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar-52">
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-47">
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-48">
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar-49">
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-46">
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-45">
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-43">
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.013572931830243292 0 -0.034372763496528506"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_12"/>
+		<parent link="link_12_helper"/>
+	</joint>
+	<link name="link_13">
+		<visual name="central_support-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.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-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_13"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_14">
+		<visual name="caster_yoke-37">
+			<origin xyz="-0.4804058032034338 0 0.11468123012829903"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-38">
+			<origin xyz="-0.4804058032034338 0 0.11468123012829903"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4804058032034338 0 0.11468123012829903"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4804058032034338 0 0.11468123012829903"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="0.4804058032034338 0 -0.11468123012829903"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_14"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_15">
+		<visual name="caster_yoke-33">
+			<origin xyz="-0.30371666124408514 0 -0.43584101518678636"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-34">
+			<origin xyz="-0.30371666124408514 0 -0.43584101518678636"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.30371666124408514 0 -0.43584101518678636"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.30371666124408514 0 -0.43584101518678636"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="0.30371666124408514 0 0.43584101518678636"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_15"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_16">
+		<visual name="caster_yoke-29">
+			<origin xyz="-0.013573 0 0.4588375"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-30">
+			<origin xyz="-0.013573 0 0.4588375"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.013573 0 0.4588375"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.013573 0 0.4588375"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="continuous">
+		<origin xyz="0.013573 0 -0.4588375"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_16"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_17">
+		<visual name="caster_yoke-25">
+			<origin xyz="0.45134597841360813 0 0.10310960994968152"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-26">
+			<origin xyz="0.45134597841360813 0 0.10310960994968152"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.45134597841360813 0 0.10310960994968152"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.45134597841360813 0 0.10310960994968152"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="continuous">
+		<origin xyz="-0.45134597841360813 0 -0.10310960994968152"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_17"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_18">
+		<visual name="caster_yoke-21">
+			<origin xyz="0.27654458395902237 0 -0.43474441994456153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-24">
+			<origin xyz="0.27654458395902237 0 -0.43474441994456153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.27654458395902237 0 -0.43474441994456153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.27654458395902237 0 -0.43474441994456153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="continuous">
+		<origin xyz="-0.27654458395902237 0 0.43474441994456153"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_18"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_12_helper"/>
+	<joint name="joint_19" type="prismatic">
+		<origin xyz="0.013572931830243292 0 0.034372763496528506"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_12_helper"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.1"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/3140/mobility_v2.json b/data/PartNet-Mobility/Chair/3140/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cd78924b22e5f29eeeae18f66603e339fa48d6f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/mobility_v2.json
@@ -0,0 +1 @@
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diff --git a/data/PartNet-Mobility/Chair/3140/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/3140/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..fc6f3dd16d663111c051ebd789a6311c5642be11
--- /dev/null
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index 0000000000000000000000000000000000000000..5b320f38ec33dcc58ef868b0a9c31ec5be9b9c32
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diff --git a/data/PartNet-Mobility/Chair/3140/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/3140/point_sample/pts-10000.txt
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index 0000000000000000000000000000000000000000..6a96969e4fb62ab9301b5470e0a77d13fad0c4e9
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diff --git a/data/PartNet-Mobility/Chair/3140/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/3140/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..37b1bf90d19ed7344d2ba229efd54c4d8ade04e5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/3140/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/3140/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ed8c63211f04d1518ce02112f391036d999d919b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/3140/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/3140/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..97425cb412fc7853ea16d2c9273eb98cac6cd6d3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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new file mode 100644
index 0000000000000000000000000000000000000000..4b11d1ae93db18c7e3e53b98b7ddd59564faf684
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+++ b/data/PartNet-Mobility/Chair/3140/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["new-12"], "id": 54, "name": "back_soft_surface"}], "id": 53, "name": "back_surface"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["new-19"], "id": 50, "name": "armrest_hard_surface"}, {"text": "Arm Vertical Bar", "objs": ["new-20"], "id": 51, "name": "arm_vertical_bar"}, {"text": "Arm Horizontal Bar", "objs": ["new-17"], "id": 52, "name": "arm_horizontal_bar"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["new-16"], "id": 47, "name": "armrest_hard_surface"}, {"text": "Arm Vertical Bar", "objs": ["new-22"], "id": 48, "name": "arm_vertical_bar"}, {"text": "Arm Horizontal Bar", "objs": ["new-14"], "id": 49, "name": "arm_horizontal_bar"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["new-25"], "id": 46, "name": "seat_soft_surface"}], "id": 44, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["new-10"], "id": 45, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-19", "original-18"], "id": 8, "name": "central_support"}, {"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-44", "original-43"], "id": 41, "name": "lever"}, {"text": "Knob", "objs": ["original-45"], "id": 42, "name": "knob"}, {"text": "Mounting Plane", "objs": ["original-42"], "id": 43, "name": "mounting_plate"}], "id": 9, "name": "mechanical_control"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["new-3"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["new-4"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["new-0"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["new-2"], "id": 15, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-39"], "id": 37, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-40"], "id": 38, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-37"], "id": 39, "name": "wheel"}, {"text": "Wheel", "objs": ["original-38"], "id": 40, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-34"], "id": 33, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-35"], "id": 34, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-32"], "id": 35, "name": "wheel"}, {"text": "Wheel", "objs": ["original-33"], "id": 36, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-22"], "id": 29, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-7"], "id": 30, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-21"], "id": 31, "name": "wheel"}, {"text": "Wheel", "objs": ["original-20"], "id": 32, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-25"], "id": 25, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-26"], "id": 26, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-24"], "id": 27, "name": "wheel"}, {"text": "Wheel", "objs": ["original-23"], "id": 28, "name": "wheel"}], "id": 19, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-29"], "id": 21, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-27"], "id": 22, "name": "wheel"}, {"text": "Wheel", "objs": ["original-28"], "id": 23, "name": "wheel"}, {"text": "Caster Stem", "objs": ["original-30"], "id": 24, "name": "caster_stem"}], "id": 20, "name": "caster"}], "id": 10, "name": "star_leg_set"}], "id": 7, "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/3140/result_after_merging.json b/data/PartNet-Mobility/Chair/3140/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..bae43fb4b88919b50945173118cc3c01ce9e3a6e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/result_after_merging.json
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3140/semantics.txt b/data/PartNet-Mobility/Chair/3140/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3e927e0c445c78a7d745969826c13677326c9fe
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/semantics.txt
@@ -0,0 +1,19 @@
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+link_1 hinge knob
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge wheel
+link_5 hinge wheel
+link_6 hinge wheel
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+link_8 hinge wheel
+link_9 hinge wheel
+link_10 hinge wheel
+link_11 hinge wheel
+link_12 slider+ seat
+link_13 free chair_leg
+link_14 hinge caster
+link_15 hinge caster
+link_16 hinge caster
+link_17 hinge caster
+link_18 hinge caster
diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/new-0.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/new-0.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/new-1.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01578b546aedf0f86af8b9be895c3913c080f4ff
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-10.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/new-10.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-10.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/new-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca0736e34325b08657857452f0cd2d3e713faac9
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-12.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/new-12.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-12.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/new-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b68b739941556e6de8344cb301856a4340b3eb14
--- /dev/null
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-17.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/new-17.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-19.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/new-19.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/new-2.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22e0c5ba71b9468fe4371f7e96f1e58615950b41
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-20.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/new-20.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-20.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/new-20.obj
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index 0000000000000000000000000000000000000000..87f4750c727508ec008236e50a87be0f12dd7355
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-22.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/new-22.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-22.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/new-22.obj
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-25.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/new-25.mtl
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-25.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/new-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a4da6b6cdc9a90a065bfb574cd8ca78b0583048
--- /dev/null
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new file mode 100644
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2b0221c774ac1cfa1d82f6c85a2ac0bc5097d0a
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-18.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/3140/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00967992a50137a9ca1ef6ef94e2f2ef5154a624
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-18.obj
@@ -0,0 +1,372 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1da01de09a6494594bc9731f81ba56d65ab70906
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fbe524834e951c796471c08c72902dd36ec4d86
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-20.obj
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+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1282fd892b45522b505642702f4d0996661edcd2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-21.obj
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+# SSTK version 0.8.0
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+mtllib original-21.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3768a41c30df64b047e9110cc373d53af5744439
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-22.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o mesh22/mesh22-geometry#mesh22-geometry
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47d51f3788b3d52eb435f17a264d3e6e60d27028
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-23.obj
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+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c24f5a5a6596ae1dc6d04a586973a377b96d696
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-24.obj
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+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed4aa0f60682d1158fa82286ae76bdbefe0df465
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-25.obj
@@ -0,0 +1,38 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
+o mesh25/mesh25-geometry#mesh25-geometry
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d96b53cae3b476ea69bd37b18e34010e1ac62b6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-26.obj
@@ -0,0 +1,34 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
+o mesh26/mesh26-geometry#mesh26-geometry
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f40147c1b721783634c57358943c76e18ae573
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-27.obj
@@ -0,0 +1,133 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37ab13a2fd7e66c6076d724ab0b9ddca2c3f5a3c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-28.obj
@@ -0,0 +1,142 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b356fec2ff6d14e7276f85cebb1aab9a9ed4723d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-29.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-30.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ff6ba22536ef4829b168aec2a2441185348c4d1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-30.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-32.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dc99fd5b3bc790e3994cad4603a878ce9328eaf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-33.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02c8f7902884443fe75c1576df4a3124d506fd8f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-33.obj
@@ -0,0 +1,146 @@
+# SSTK version 0.8.0
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+mtllib original-33.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-34.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0924a62f773c76d97600de28da3ea4e021d9deda
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-34.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 34
+mtllib original-34.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-35.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac4b0b29f0a0e7efcb5e126affbd1b0a678dea49
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-35.obj
@@ -0,0 +1,34 @@
+# SSTK version 0.8.0
+# 35
+mtllib original-35.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-37.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de528913032803692ba02ff68e1c98f03cf1e294
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-37.obj
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+# SSTK version 0.8.0
+# 37
+mtllib original-37.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-38.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1da3b16d5afb9c63ed8bd536d799932a58d35c7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-38.obj
@@ -0,0 +1,144 @@
+# SSTK version 0.8.0
+# 38
+mtllib original-38.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-39.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fb46aba33ce9c4d6aed8b59610b7f8bd3061474
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-39.obj
@@ -0,0 +1,38 @@
+# SSTK version 0.8.0
+# 39
+mtllib original-39.mtl
+o mesh39/mesh39-geometry#mesh39-geometry
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-40.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-40.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c17d4be23b15ba503bdc88af227131a994ad99f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-40.obj
@@ -0,0 +1,34 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
+o mesh40/mesh40-geometry#mesh40-geometry
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-42.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-42.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-42.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bb637c2c875fe4afd6e64a021e687c8d0b7149b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-42.obj
@@ -0,0 +1,169 @@
+# SSTK version 0.8.0
+# 42
+mtllib original-42.mtl
+o mesh42/mesh42-geometry#mesh42-geometry
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-43.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-43.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-43.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..671e9b15cfb8617049e2ab2103355aaae3879ba1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-43.obj
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+# SSTK version 0.8.0
+# 43
+mtllib original-43.mtl
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-44.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-44.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f4dad543394a81ad6ab30dd9c1ede78aacc4534
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-44.obj
@@ -0,0 +1,194 @@
+# SSTK version 0.8.0
+# 44
+mtllib original-44.mtl
+o mesh44/mesh44-geometry#mesh44-geometry
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-45.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-45.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/3140/textured_objs/original-45.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad0fa7e10a03a428d9a9a708d29096bbc980a24e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-45.obj
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/3140/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/3140/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/3140/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b98b6dd7c224d12fedac7cf7b0dfde22251c143d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/textured_objs/original-7.obj
@@ -0,0 +1,143 @@
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diff --git a/data/PartNet-Mobility/Chair/3140/tree_hier.html b/data/PartNet-Mobility/Chair/3140/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..374e2a1268667fa4e181e41b3e09892e3420a371
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/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><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><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><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>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></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_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></td><td><p>47 armrest_hard_surface Armrest Hard Surface</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_vertical_bar Arm Vertical Bar</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 arm_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>44 seat_surface Seat Surface</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>45 seat_support Seat Support</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>7 star_leg_base Star-shape Leg Base</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td></tr><tr><td><p>54 back_soft_surface Back Soft Surface</p><a href="parts_render/54.png"><img src="parts_render/54.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><p>46 seat_soft_surface Seat Soft 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></td><td></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 mechanical_control Mechanical Control</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><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></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><p>41 lever Lever</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 knob Knob</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 mounting_plate Mounting Plane</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>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 leg Leg</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></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><p>20 caster Wheel Assembly</p><a href="parts_render/20.png"><img src="parts_render/20.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><p>37 caster_yoke Caster Yoke</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 caster_stem Caster Stem</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><p>40 wheel Wheel</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>33 caster_yoke Caster Yoke</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 caster_stem Caster Stem</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><p>36 wheel Wheel</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 caster_yoke Caster Yoke</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 caster_stem Caster Stem</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel Wheel</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></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 caster_stem Caster Stem</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><p>28 wheel Wheel</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>21 caster_yoke Caster Yoke</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><td></td><td><p>24 caster_stem Caster Stem</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3140/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/3140/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..594506893daf97d8bfc89a1dd1f7534375002c80
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3140/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><p>4 chair_arm chair_arm</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></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><p>12 chair_seat chair_seat</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></td><td></td><td></td><td><p>16 chair_base chair_base</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.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></td><td><p>5 arm_horizontal_bar arm_horizontal_bar</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><p>6 arm_near_vertical_bar arm_near_vertical_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_horizontal_bar arm_horizontal_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></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></td><td><p>13 seat_surface seat_surface</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><p>15 seat_support seat_support</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><p>17 star_leg_base star_leg_base</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.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><p>14 seat_single_surface seat_single_surface</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></td><td></td><td></td><td><p>18 central_support central_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 mechanical_control mechanical_control</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></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></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><p>20 lever lever</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><p>21 knob knob</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 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></td><td></td><td><p>32 caster caster</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></td><td></td><td></td><td></td><td><p>36 caster caster</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></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><td></td><td></td><td></td><td></td><td></td><td></td><td><p>44 caster caster</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.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>29 caster_stem caster_stem</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><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></td><td><p>33 caster_stem caster_stem</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><p>34 wheel wheel</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></td><td><p>37 caster_stem caster_stem</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><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 caster_stem caster_stem</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><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></td><td><p>45 wheel wheel</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 wheel wheel</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 caster_stem caster_stem</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3143/bounding_box.json b/data/PartNet-Mobility/Chair/3143/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6f1ed0186a7d3882e8ddc4b00e5e6ee862c39d1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.591046, -0.803001, -0.469202], "max": [0.582486, 0.862345, 0.646894]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3143/meta.json b/data/PartNet-Mobility/Chair/3143/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a451dd5843363eec22a1aaa3743b80d0c8a5848
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/meta.json
@@ -0,0 +1 @@
+{"model_id": "341e18eafb46f892a6fee8e2140acec9", "anno_id": "3143", "user_id": "huangfuchong", "time_in_sec": "4863", "version": "3", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3143/mobility.urdf b/data/PartNet-Mobility/Chair/3143/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3d1199f7bf75f8cd7ef7d17c954f729aa7a86161
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/mobility.urdf
@@ -0,0 +1,812 @@
+<?xml version="1.0" ?>
+<robot name="partnet_341e18eafb46f892a6fee8e2140acec9">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="other_leaf-62">
+			<origin xyz="0.3067335 0.07333890961465923 0.05626976023498802"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3067335 0.07333890961465923 0.05626976023498802"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.3024521264628821 -0.07333890961465923 -0.09544713377210592"/>
+		<axis xyz="0 0.6087262728037218 -0.7933803153585857"/>
+		<child link="link_0"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lever-44">
+			<origin xyz="-0.008835029833018775 0.33037067444891727 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-44">
+			<origin xyz="-0.008835029833018775 0.33037067444891727 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.008835029833018775 0.33037067444891727 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008835029833018775 0.33037067444891727 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.013116403370136682 -0.33037067444891727 -0.03917737353711791"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_13"/>
+		<limit lower="0.0" upper="0.3490658503988659"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-40">
+			<origin xyz="0.31277681397917934 0.7623489999999999 0.4305193700824943"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.31277681397917934 0.7623489999999999 0.4305193700824943"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.003295686020820643 -0.7623489999999999 -0.040550870082494306"/>
+		<axis xyz="0.8090293436440921 0 -0.5877682546061922"/>
+		<child link="link_2"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-41">
+			<origin xyz="0.31277681397917934 0.7623489999999999 0.4305193700824943"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.31277681397917934 0.7623489999999999 0.4305193700824943"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.003295686020820643 -0.7623489999999999 -0.040550870082494306"/>
+		<axis xyz="0.8090293436440921 0 -0.5877682546061922"/>
+		<child link="link_3"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-36">
+			<origin xyz="-0.3098502696518742 0.7623489999999999 0.4264280455287642"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3098502696518742 0.7623489999999999 0.4264280455287642"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="0.002337269651874141 -0.7623489999999999 -0.03645954552876418"/>
+		<axis xyz="0.8089879858690675 0 0.5878251770037666"/>
+		<child link="link_4"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-37">
+			<origin xyz="-0.3098502696518742 0.7623489999999999 0.4264280455287642"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3098502696518742 0.7623489999999999 0.4264280455287642"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.002337269651874141 -0.7623489999999999 -0.03645954552876418"/>
+		<axis xyz="0.8089879858690675 0 0.5878251770037666"/>
+		<child link="link_5"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-32">
+			<origin xyz="-0.5414887314876315 0.7623492749178251 -0.17595712442908348"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5414887314876315 0.7623492749178251 -0.17595712442908348"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.04127771239922984 -0.7623492749178251 -0.027139219283442095"/>
+		<axis xyz="-0.3090189783017005 1.9372702790012414e-05 0.9510558714786801"/>
+		<child link="link_6"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-33">
+			<origin xyz="-0.5414887314876315 0.7623492749178251 -0.17595712442908348"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5414887314876315 0.7623492749178251 -0.17595712442908348"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.04127771239922984 -0.7623492749178251 -0.027139219283442095"/>
+		<axis xyz="-0.3090189783017005 1.9372702790012414e-05 0.9510558714786801"/>
+		<child link="link_7"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-26">
+			<origin xyz="0 0.7623489999999999 -0.6005014241332604"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7623489999999999 -0.6005014241332604"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.0042795 -0.7623489999999999 0.030870924133260313"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_8"/>
+		<parent link="link_15"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-27">
+			<origin xyz="0 0.7623489999999999 -0.6005014241332604"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7623489999999999 -0.6005014241332604"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.0042795 -0.7623489999999999 0.030870924133260313"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_9"/>
+		<parent link="link_15"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel-23">
+			<origin xyz="0.5492292068430765 0.7623505219049186 -0.1784811101163524"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5492292068430765 0.7623505219049186 -0.1784811101163524"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
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+			<geometry>
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+		<visual name="leg-12">
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+		<visual name="leg-13">
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+		<visual name="leg-14">
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+		<visual name="leg-15">
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+			<geometry>
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+		</collision>
+	</link>
+	<joint name="joint_18" type="continuous">
+		<origin xyz="-0.3160725 0 -0.3899685"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_18"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_13_helper"/>
+	<joint name="joint_19" type="prismatic">
+		<origin xyz="-0.004281373537117907 0 0.03917737353711791"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_13_helper"/>
+		<parent link="link_12"/>
+		<limit lower="0" upper="0.06"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/3143/mobility_v2.json b/data/PartNet-Mobility/Chair/3143/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6de7264b40b98911459c7a381c2c1dd8e963d4b7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":13,"joint":"hinge","name":"knob","parts":[{"id":62,"name":"other_leaf"}],"jointData":{"axis":{"origin":[-0.3067335,-0.07333890961465923,-0.05626976023498802],"direction":[0,0.6087262728037218,-0.7933803153585857]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":13,"joint":"hinge","name":"lever","parts":[{"id":44,"name":"lever"}],"jointData":{"axis":{"origin":[0.008835029833018775,-0.33037067444891727,0],"direction":[0,0,1]},"limit":{"a":0,"b":20,"noLimit":false}}},{"id":2,"parent":18,"joint":"hinge","name":"wheel","parts":[{"id":40,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.31277681397917934,-0.7623489999999999,-0.4305193700824943],"direction":[0.8090293436440921,0,-0.5877682546061922]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":18,"joint":"hinge","name":"wheel","parts":[{"id":41,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.31277681397917934,-0.7623489999999999,-0.4305193700824943],"direction":[0.8090293436440921,0,-0.5877682546061922]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":17,"joint":"hinge","name":"wheel","parts":[{"id":36,"name":"wheel"}],"jointData":{"axis":{"origin":[0.3098502696518742,-0.7623489999999999,-0.4264280455287642],"direction":[0.8089879858690675,0,0.5878251770037666]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":17,"joint":"hinge","name":"wheel","parts":[{"id":37,"name":"wheel"}],"jointData":{"axis":{"origin":[0.3098502696518742,-0.7623489999999999,-0.4264280455287642],"direction":[0.8089879858690675,0,0.5878251770037666]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":16,"joint":"hinge","name":"wheel","parts":[{"id":32,"name":"wheel"}],"jointData":{"axis":{"origin":[0.5414887314876315,-0.7623492749178251,0.17595712442908348],"direction":[-0.3090189783017005,0.000019372702790012414,0.9510558714786801]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":16,"joint":"hinge","name":"wheel","parts":[{"id":33,"name":"wheel"}],"jointData":{"axis":{"origin":[0.5414887314876315,-0.7623492749178251,0.17595712442908348],"direction":[-0.3090189783017005,0.000019372702790012414,0.9510558714786801]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":15,"joint":"hinge","name":"wheel","parts":[{"id":26,"name":"wheel"}],"jointData":{"axis":{"origin":[0,-0.7623489999999999,0.6005014241332604],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":15,"joint":"hinge","name":"wheel","parts":[{"id":27,"name":"wheel"}],"jointData":{"axis":{"origin":[0,-0.7623489999999999,0.6005014241332604],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":14,"joint":"hinge","name":"wheel","parts":[{"id":23,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.5492292068430765,-0.7623505219049186,0.1784811101163524],"direction":[-0.3090280152345797,-0.000023308495994224738,-0.9510529350445697]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":14,"joint":"hinge","name":"wheel","parts":[{"id":24,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.5492292068430765,-0.7623505219049186,0.1784811101163524],"direction":[-0.3090280152345797,-0.000023308495994224738,-0.9510529350445697]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":-1,"joint":"free","name":"leg","parts":[{"id":11,"name":"leg"},{"id":12,"name":"leg"},{"id":13,"name":"leg"},{"id":14,"name":"leg"},{"id":15,"name":"leg"}],"jointData":{}},{"id":13,"parent":12,"joint":"slider","name":"mounting_plate","parts":[{"id":45,"name":"mounting_plate"},{"id":77,"name":"back_frame_horizontal_bar"},{"id":80,"name":"back_soft_surface"},{"id":79,"name":"back_support"},{"id":71,"name":"arm_holistic_frame"},{"id":72,"name":"arm_connector"},{"id":73,"name":"arm_connector"},{"id":74,"name":"arm_connector"},{"id":67,"name":"arm_holistic_frame"},{"id":68,"name":"arm_connector"},{"id":69,"name":"arm_connector"},{"id":70,"name":"arm_connector"},{"id":64,"name":"seat_soft_surface"},{"id":65,"name":"seat_support"},{"id":42,"name":"central_support"},{"id":55,"name":"seat_frame_vertical_bar"},{"id":56,"name":"seat_frame_vertical_bar"},{"id":57,"name":"seat_frame_horizontal_bar"},{"id":58,"name":"seat_frame_horizontal_bar"},{"id":59,"name":"seat_frame_vertical_bar"},{"id":60,"name":"seat_frame_vertical_bar"},{"id":63,"name":"seat_frame_horizontal_bar"}],"jointData":{"axis":{"origin":[-0.004281373537117907,0,0.03917737353711791],"direction":[0,1,0]},"limit":{"a":0,"b":-0.06,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":14,"parent":12,"joint":"hinge","name":"caster_yoke","parts":[{"id":21,"name":"caster_yoke"},{"id":22,"name":"caster_stem"}],"jointData":{"axis":{"origin":[-0.5087709918462863,0,0.2030959973506892],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":15,"parent":12,"joint":"hinge","name":"caster_yoke","parts":[{"id":28,"name":"caster_yoke"},{"id":29,"name":"caster_stem"}],"jointData":{"axis":{"origin":[-0.0042795,0,0.5696305],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":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\ No newline at end of file
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1 @@
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\ No newline at end of file
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+++ b/data/PartNet-Mobility/Chair/3143/parts_render/1.txt
@@ -0,0 +1 @@
+1 chair_back Chair Back
\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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@@ -0,0 +1 @@
+12 leg Leg
\ No newline at end of file
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@@ -0,0 +1 @@
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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+16 caster Wheel Assembly
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3143/parts_render/17.png b/data/PartNet-Mobility/Chair/3143/parts_render/17.png
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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diff --git a/data/PartNet-Mobility/Chair/3143/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/3143/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..a4bb2b95032671d35cb57ce5ea9a54de823eac2d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3143/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/3143/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..52b53c2ca57c6c8228a84b953bb955ec41cb5573
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3143/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/3143/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f885ee9db4a27d00d2928060f4cad6923cec3904
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3143/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/3143/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c9b8bdec00944a16642169efdd8c0df212468f77
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/3143/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/3143/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a0e8c782f9dfaf7bb9a19377483ea7eb3a56d5ee
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3143/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Chair/3143/point_sample/sample-points-all-pts-nor-rgba-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/3143/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/3143/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aa70ce948bd1e698ae86741871ebd4a15d60d068
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/3143/result.json b/data/PartNet-Mobility/Chair/3143/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fe395e68a2a6e6bef6590719a28144da29d7297
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Frame", "children": [{"text": "Back Frame Horizontal Bar", "objs": ["original-30"], "id": 77, "name": "back_frame_horizontal_bar"}], "id": 76, "name": "back_frame"}, {"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["new-14"], "id": 80, "name": "back_soft_surface"}], "id": 78, "name": "back_surface"}, {"text": "Back Support", "objs": ["new-19"], "id": 79, "name": "back_support"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["new-24"], "id": 71, "name": "arm_holistic_frame"}, {"text": "Arm Connector", "objs": ["new-23"], "id": 72, "name": "arm_connector"}, {"text": "Arm Connector", "objs": ["original-45"], "id": 73, "name": "arm_connector"}, {"text": "Arm Connector", "objs": ["original-44"], "id": 74, "name": "arm_connector"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["new-22"], "id": 67, "name": "arm_holistic_frame"}, {"text": "Arm Connector", "objs": ["new-21"], "id": 68, "name": "arm_connector"}, {"text": "Arm Connector", "objs": ["new-20"], "id": 69, "name": "arm_connector"}, {"text": "Arm Connector", "objs": ["original-42"], "id": 70, "name": "arm_connector"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-33", "original-37", "original-36", "original-29", "new-13"], "id": 64, "name": "seat_soft_surface"}], "id": 46, "name": "seat_surface"}, {"text": "Seat Frame", "children": [{"text": "Seat Frame Vertical Bar", "objs": ["new-12"], "id": 55, "name": "seat_frame_vertical_bar"}, {"text": "Seat Frame Vertical Bar", "objs": ["new-11"], "id": 56, "name": "seat_frame_vertical_bar"}, {"text": "Seat Frame Horizontal Bar", "objs": ["new-10"], "id": 57, "name": "seat_frame_horizontal_bar"}, {"text": "Seat Frame Horizontal Bar", "objs": ["original-32"], "id": 58, "name": "seat_frame_horizontal_bar"}, {"text": "Seat Frame Vertical Bar", "objs": ["new-15"], "id": 59, "name": "seat_frame_vertical_bar"}, {"text": "Seat Frame Vertical Bar", "objs": ["new-16"], "id": 60, "name": "seat_frame_vertical_bar"}, {"text": "Round (other)", "children": [{"text": "other_leaf", "objs": ["original-35"], "id": 62, "name": "other_leaf"}], "id": 61, "name": "other"}, {"text": "Seat Frame Horizontal Bar", "objs": ["new-17"], "id": 63, "name": "seat_frame_horizontal_bar"}], "id": 47, "name": "seat_frame"}, {"text": "Seat Support", "objs": ["new-18"], "id": 65, "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-3"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-2"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-1"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-4"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["original-5"], "id": 15, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["new-9"], "id": 38, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["new-8"], "id": 39, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-16"], "id": 40, "name": "wheel"}, {"text": "Wheel", "objs": ["original-15"], "id": 41, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["new-7"], "id": 34, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["new-6"], "id": 35, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-10"], "id": 36, "name": "wheel"}, {"text": "Wheel", "objs": ["original-9"], "id": 37, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["new-5"], "id": 30, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["new-4"], "id": 31, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-21"], "id": 32, "name": "wheel"}, {"text": "Wheel", "objs": ["original-20"], "id": 33, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-7"], "id": 26, "name": "wheel"}, {"text": "Wheel", "objs": ["original-13"], "id": 27, "name": "wheel"}, {"text": "Caster Yoke", "objs": ["new-3"], "id": 28, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["new-2"], "id": 29, "name": "caster_stem"}], "id": 19, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["new-1"], "id": 21, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["new-0"], "id": 22, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-19"], "id": 23, "name": "wheel"}, {"text": "Wheel", "objs": ["original-18"], "id": 24, "name": "wheel"}], "id": 20, "name": "caster"}], "id": 10, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["original-26"], "id": 42, "name": "central_support"}, {"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-25", "original-27"], "id": 44, "name": "lever"}, {"text": "Mounting Plane", "objs": ["original-24"], "id": 45, "name": "mounting_plate"}], "id": 43, "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/3143/result_after_merging.json b/data/PartNet-Mobility/Chair/3143/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..dad071035bd7588c2f3717a01d1d9dc2ffdff7b1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/result_after_merging.json
@@ -0,0 +1 @@
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"id": 10, "name": "arm_connector"}, {"objs": ["original-44"], "text": "arm_connector", "ori_id": 74, "id": 11, "name": "arm_connector"}], "id": 7, "objs": ["new-24", "new-23", "original-45", "original-44"], "ori_id": 2, "name": "chair_arm"}, {"text": "chair_arm", "children": [{"objs": ["new-22"], "text": "arm_holistic_frame", "ori_id": 67, "id": 13, "name": "arm_holistic_frame"}, {"objs": ["new-21"], "text": "arm_connector", "ori_id": 68, "id": 14, "name": "arm_connector"}, {"objs": ["new-20"], "text": "arm_connector", "ori_id": 69, "id": 15, "name": "arm_connector"}, {"objs": ["original-42"], "text": "arm_connector", "ori_id": 70, "id": 16, "name": "arm_connector"}], "id": 12, "objs": ["new-22", "new-21", "new-20", "original-42"], "ori_id": 3, "name": "chair_arm"}, {"text": "chair_seat", "children": [{"text": "seat_surface", "children": [{"objs": ["original-33", "original-37", "original-36", "original-29", "new-13"], "text": "seat_single_surface", "ori_id": 64, "id": 19, "name": 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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/3143/semantics.txt b/data/PartNet-Mobility/Chair/3143/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..598c199550cc87f9e9c2304641751f779c935b5a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/semantics.txt
@@ -0,0 +1,19 @@
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+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge wheel
+link_5 hinge wheel
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+link_12 free chair_leg
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+link_14 hinge caster
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+link_18 hinge caster
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new file mode 100644
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/new-1.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/new-1.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/new-13.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/new-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb2be4c70fe212d9da2ddd4280553d859c023f74
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/new-13.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/new-13.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/new-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55338b99ee0b9110c208507a7d38ae05a96ee149
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/new-14.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/new-14.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/new-14.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/new-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10c5cd7fe9d49b1c63b5cc6562a68613ecb71fa4
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/new-15.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/new-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb2be4c70fe212d9da2ddd4280553d859c023f74
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/new-15.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
+Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+
diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/new-15.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/new-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..604c11db5417ae442e42659c0c9827e959e5f02a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/new-15.obj
@@ -0,0 +1,44 @@
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..60f4d270495577d8bb82445e69910ead046df182
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dafbac92444245144f4a0f24a1a282c62ba0beb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a54c3de233defd54a0d7fca2455aeb01a0d80688
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-13.obj
@@ -0,0 +1,161 @@
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+mtllib original-13.mtl
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7b6e032d9132fff5fb884e31cc4a2e1baa58381
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4c5f3ad6ec8d7a92b4d052647fbc793018fe723
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-16.obj
@@ -0,0 +1,161 @@
+# SSTK version 0.8.0
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+mtllib original-16.mtl
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-18.obj
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index 0000000000000000000000000000000000000000..67b8c7cd8a8fac7eca06b42cbf5f1ddf64bd4d57
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-19.mtl
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a32d35f84a554a9fe9281925ba732450e03d704
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed2b51c255fc1c9dc2829590cd371121402ea794
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dad5fd7dc924893db6e723d7bd0a13dd5c12577
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1ea137ec6c87c9d0958b8d8eed1fd5d816b790f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-21.obj
@@ -0,0 +1,161 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08799aceca5d89113b1cc40b2b1276492caf6c5f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-24.obj
@@ -0,0 +1,167 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa7a4b72452298aa7b51ba5e9e3b99fa7f3b5d62
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-25.obj
@@ -0,0 +1,79 @@
+# SSTK version 0.8.0
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+mtllib original-25.mtl
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ebcea97f7b9801cde4d3e33da0108d2d9ea63c3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-26.obj
@@ -0,0 +1,252 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f954635372df5bddfc5a496408651abebc7b4c3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-27.obj
@@ -0,0 +1,45 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c2b85762e9a9c9f2649c660782819aa32e67137
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-29.obj
@@ -0,0 +1,167 @@
+# SSTK version 0.8.0
+# 29
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b93f7fa25e6417808227eea9153bcd54dc6fdc5e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-3.obj
@@ -0,0 +1,871 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f163ff5cd59345ffa867251090e227d11f281b15
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/3143/textured_objs/original-30.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/3143/textured_objs/original-33.obj
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index 0000000000000000000000000000000000000000..14dae6feadbe3eddeb4d156cb213118428c3ccc7
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diff --git a/data/PartNet-Mobility/Chair/3143/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/3143/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
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