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diff --git a/data/PartNet-Mobility/Chair/39015/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/39015/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..a28d8d5ce2add2803eae0d2f7a2f4db512bf4c88
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new file mode 100644
index 0000000000000000000000000000000000000000..0a296fb73c1b276df5c4990d450cf589ed1dfb7c
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diff --git a/data/PartNet-Mobility/Chair/39015/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/39015/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c4c849b6e187c71f495882653e7370fbb323532
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39015/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/39015/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0e88ff3dc618b691fed80e9ed4c9cf97847a1f48
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/39015/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/39015/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4ecc13a5906012b8096fcdd2705a6cefeee4ae2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39015/result.json b/data/PartNet-Mobility/Chair/39015/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4e45d3eacf3852192acfeacec4df75d711e3680
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["new-5"], "id": 34, "name": "back_soft_surface"}], "id": 33, "name": "back_surface"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-12"], "id": 32, "name": "arm_holistic_frame"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-3"], "id": 31, "name": "arm_holistic_frame"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["new-6"], "id": 30, "name": "seat_soft_surface"}], "id": 29, "name": "seat_surface"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-11"], "id": 7, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["new-3"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["new-2"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["new-4"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["new-0"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 13, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-18"], "id": 27, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-2"], "id": 28, "name": "wheel"}], "id": 14, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-7"], "id": 25, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-9"], "id": 26, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-25"], "id": 23, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-13"], "id": 24, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-24"], "id": 21, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-4"], "id": 22, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-19"], "id": 19, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-5"], "id": 20, "name": "wheel"}], "id": 18, "name": "caster"}], "id": 8, "name": "star_leg_set"}], "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/39015/result_after_merging.json b/data/PartNet-Mobility/Chair/39015/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cf055e7c263cc3dae0f13f11bfe13fe5cdb39b0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "chair", "ori_id": 0, "children": [{"text": "chair_back", "ori_id": 1, "children": [{"text": "back_surface", "ori_id": 33, "children": [{"ori_id": 34, "text": "back_single_surface", "name": "back_single_surface", "objs": ["new-5"], "id": 3}], "name": "back_surface", "objs": ["new-5"], "id": 2}], "name": "chair_back", "objs": ["new-5"], "id": 1}, {"text": "chair_arm", "ori_id": 2, "children": [{"ori_id": 32, "text": "arm_holistic_frame", "name": "arm_holistic_frame", "objs": ["original-12"], "id": 5}], "name": "chair_arm", "objs": ["original-12"], "id": 4}, {"text": "chair_arm", "ori_id": 3, "children": [{"ori_id": 31, "text": "arm_holistic_frame", "name": "arm_holistic_frame", "objs": ["original-3"], "id": 7}], "name": "chair_arm", "objs": ["original-3"], "id": 6}, {"text": "chair_seat", "ori_id": 4, "children": [{"text": "seat_surface", "ori_id": 29, "children": [{"ori_id": 30, "text": "seat_single_surface", "name": "seat_single_surface", "objs": ["new-6"], "id": 10}], "name": "seat_surface", "objs": ["new-6"], "id": 9}], "name": "chair_seat", "objs": ["new-6"], "id": 8}, {"text": "chair_base", "ori_id": 5, "children": [{"text": "star_leg_base", "ori_id": 6, "children": [{"ori_id": 7, "text": "central_support", "name": "central_support", "objs": ["original-11"], "id": 13}, {"text": "star_leg_set", "ori_id": 8, "children": [{"ori_id": 9, "text": "leg", "name": "leg", "objs": ["new-3"], "id": 15}, {"ori_id": 10, "text": "leg", "name": "leg", "objs": ["new-2"], "id": 16}, {"ori_id": 11, "text": "leg", "name": "leg", "objs": ["new-4"], "id": 17}, {"ori_id": 12, "text": "leg", "name": "leg", "objs": ["new-0"], "id": 18}, {"ori_id": 13, "text": "leg", "name": "leg", "objs": ["new-1"], "id": 19}, {"text": "caster", "ori_id": 14, "children": [{"ori_id": 27, "text": "caster_stem", "name": "caster_stem", "objs": ["original-18"], "id": 21}, {"ori_id": 28, "text": "wheel", "name": "wheel", "objs": ["original-2"], "id": 22}], "name": "caster", "objs": ["original-18", "original-2"], "id": 20}, {"text": "caster", "ori_id": 15, "children": [{"ori_id": 25, "text": "caster_stem", "name": "caster_stem", "objs": ["original-7"], "id": 24}, {"ori_id": 26, "text": "wheel", "name": "wheel", "objs": ["original-9"], "id": 25}], "name": "caster", "objs": ["original-7", "original-9"], "id": 23}, {"text": "caster", "ori_id": 16, "children": [{"ori_id": 23, "text": "caster_stem", "name": "caster_stem", "objs": ["original-25"], "id": 27}, {"ori_id": 24, "text": "wheel", "name": "wheel", "objs": ["original-13"], "id": 28}], "name": "caster", "objs": ["original-25", "original-13"], "id": 26}, {"text": "caster", "ori_id": 17, "children": [{"ori_id": 21, "text": "caster_stem", "name": "caster_stem", "objs": ["original-24"], "id": 30}, {"ori_id": 22, "text": "wheel", "name": "wheel", "objs": ["original-4"], "id": 31}], "name": "caster", "objs": ["original-24", "original-4"], "id": 29}, {"text": "caster", "ori_id": 18, "children": [{"ori_id": 19, "text": "caster_stem", "name": "caster_stem", "objs": ["original-19"], "id": 33}, {"ori_id": 20, "text": "wheel", "name": "wheel", "objs": ["original-5"], "id": 34}], "name": "caster", "objs": ["original-19", "original-5"], "id": 32}], "name": "star_leg_set", "objs": ["new-3", "new-2", "new-4", "new-0", "new-1", "original-18", "original-2", "original-7", "original-9", "original-25", "original-13", "original-24", "original-4", "original-19", "original-5"], "id": 14}], "name": "star_leg_base", "objs": ["original-11", "new-3", "new-2", "new-4", "new-0", "new-1", "original-18", "original-2", "original-7", "original-9", "original-25", "original-13", "original-24", "original-4", "original-19", "original-5"], "id": 12}], "name": "chair_base", "objs": ["original-11", "new-3", "new-2", "new-4", "new-0", "new-1", "original-18", "original-2", "original-7", "original-9", "original-25", "original-13", "original-24", "original-4", "original-19", "original-5"], "id": 11}], "name": "chair", "objs": ["new-5", "original-12", "original-3", "new-6", "original-11", "new-3", "new-2", "new-4", "new-0", "new-1", "original-18", "original-2", "original-7", "original-9", "original-25", "original-13", "original-24", "original-4", "original-19", "original-5"], "id": 0}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39015/semantics.txt b/data/PartNet-Mobility/Chair/39015/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..25198e5cf5c93bfe972e0683d5df09bff54a3541
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/semantics.txt
@@ -0,0 +1,12 @@
+link_0 hinge caster
+link_1 hinge wheel
+link_2 hinge caster
+link_3 hinge wheel
+link_4 hinge caster
+link_5 hinge wheel
+link_6 hinge caster
+link_7 hinge wheel
+link_8 hinge caster
+link_9 hinge wheel
+link_10 slider+ seat
+link_11 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/39015/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..18e7529133ac28d32379906362c69f601bf3d2ad
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/textured_objs/new-0.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/39015/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb3b20b94c1174c3a717a286d745651181261acb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/textured_objs/new-0.obj
@@ -0,0 +1,239 @@
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/39015/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2b7c4b8e24a871ec778ba3e67128980042a9669
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/39015/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6780fbca431214036198bb731099618ebe738413
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/textured_objs/original-11.obj
@@ -0,0 +1,395 @@
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/39015/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2b7c4b8e24a871ec778ba3e67128980042a9669
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/39015/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6606ff9313609cf13a0bfd29bcf365eebe6d7258
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/39015/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2b7c4b8e24a871ec778ba3e67128980042a9669
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/39015/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2b7c4b8e24a871ec778ba3e67128980042a9669
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/39015/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f87e34d29d2f0437149e1f0fe9f2c6fe037eb98e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/39015/textured_objs/original-2.mtl
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index 0000000000000000000000000000000000000000..384d69fa0e9e037c750c56e9b512206acc5f3fdb
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/39015/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a432bb4347d75a77539bb0a6a9c41dad23df0eb
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index 0000000000000000000000000000000000000000..e2b7c4b8e24a871ec778ba3e67128980042a9669
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/39015/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2b7c4b8e24a871ec778ba3e67128980042a9669
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/39015/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c998ff05587d32abfed406e08635b7f68788fbf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/39015/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..384d69fa0e9e037c750c56e9b512206acc5f3fdb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/39015/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0e03f86b2b4e53e18cab2ead40ce452a93b93d5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/39015/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..384d69fa0e9e037c750c56e9b512206acc5f3fdb
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39015/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/39015/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44fd17b61083c43f1039a8cc224c855dc731679f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39015/tree_hier.html b/data/PartNet-Mobility/Chair/39015/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..7ac6931337baef9b4db527435f13601cedb6c659
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/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><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><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>33 back_surface Back Surface</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>32 arm_holistic_frame Arm Holistic Frame</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>31 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 seat_surface Seat Surface</p><a href="parts_render/29.png"><img src="parts_render/29.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>34 back_soft_surface Back Soft 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></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>30 seat_soft_surface Seat Soft Surface</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>7 central_support Central Support</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 star_leg_set Star-shape Leg Set</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td></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><p>9 leg Leg</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 leg Leg</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 caster Wheel Assembly</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><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><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>27 caster_stem Caster Stem</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>25 caster_stem Caster Stem</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 wheel Wheel</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>23 caster_stem Caster Stem</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 wheel Wheel</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>21 caster_stem Caster Stem</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 wheel Wheel</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>19 caster_stem Caster Stem</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 wheel Wheel</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39015/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/39015/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..e58fad7a066a84e56dc3d03e10cb554910af14fe
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39015/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><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><p>8 chair_seat chair_seat</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><p>11 chair_base chair_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>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_holistic_frame arm_holistic_frame</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_holistic_frame arm_holistic_frame</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 seat_surface seat_surface</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></td><td><p>12 star_leg_base star_leg_base</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.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><p>10 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><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></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><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></td><td></td><td><p>23 caster caster</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><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></td><td></td><td><p>29 caster caster</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><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></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>21 caster_stem caster_stem</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 wheel wheel</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_stem caster_stem</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 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 caster_stem caster_stem</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 wheel wheel</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><p>30 caster_stem caster_stem</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel wheel</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></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></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39047/bounding_box.json b/data/PartNet-Mobility/Chair/39047/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..3459dae704f1cbebe79c7653823475a8e85bf560
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.7087845126532144, -0.787322, -0.5446691993157368], "max": [0.7025590336706659, 0.583437, 0.6253816816353006]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39047/meta.json b/data/PartNet-Mobility/Chair/39047/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e8a930b6e0ca0692dbc5559e98aa3b7758d0f9f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/meta.json
@@ -0,0 +1 @@
+{"model_id": "6c72077d968519bc13e020d985215e3", "anno_id": "39047", "user_id": "yzwangshuo", "time_in_sec": "1184", "version": "6", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39047/mobility.urdf b/data/PartNet-Mobility/Chair/39047/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9c991659897543475ce057f72761f123532e3f50
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/mobility.urdf
@@ -0,0 +1,327 @@
+<?xml version="1.0" ?>
+<robot name="partnet_6c72077d968519bc13e020d985215e3">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="wheel-45">
+			<origin xyz="0.014972490276132143 0.7577988384526487 -0.5874578665078826"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.014972490276132143 0.7577988384526487 -0.5874578665078826"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.014972490276132143 -0.7577988384526487 0.5874578665078826"/>
+		<axis xyz="0.9996747752766013 1.423562417214863e-05 0.025496976690598416"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-44">
+			<origin xyz="0.014972490276132143 0.7577988384526487 -0.5874578665078826"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.014972490276132143 0.7577988384526487 -0.5874578665078826"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.014972490276132143 -0.7577988384526487 0.5874578665078826"/>
+		<axis xyz="0.9996747752766013 1.423562417214863e-05 0.025496976690598416"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_2">
+		<visual name="back_hard_surface-61">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_sofa_style-63">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_sofa_style-62">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-73">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-73">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-73">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-73">
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+			<geometry>
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+		<visual name="seat_support-71">
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+		<visual name="central_support-34">
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+		<visual name="seat_connector-69">
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+		<visual name="leg-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="leg-37">
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+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
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+		<visual name="leg-38">
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+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
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new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/mobility_v2.json
@@ -0,0 +1 @@
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diff --git a/data/PartNet-Mobility/Chair/39047/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/39047/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..08caa5465e799f3745c789476136d92ebd51f43a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/point_sample/ply-10000.ply
@@ -0,0 +1,10010 @@
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diff --git a/data/PartNet-Mobility/Chair/39047/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/39047/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..40bbd2b964903c91b0d96815d65f4ec7aa9db970
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39047/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/39047/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a3841f3ded799652fc5c07f1a71733e90b7935c6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39047/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/39047/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d5790488b71f6df8a79ba6962e882f85fa2e37e3
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39047/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Chair/39047/point_sample/sample-points-all-pts-nor-rgba-10000.ply
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39047/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/39047/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fc468ff36375e32b19287810df48a77e98a1b990
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39047/result.json b/data/PartNet-Mobility/Chair/39047/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..75018458bcc9b282fe9203651af60469e73e9c8f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Hard Surface", "objs": ["new-8"], "id": 61, "name": "back_hard_surface"}], "id": 60, "name": "back_surface"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Sofa-style Arm", "objs": ["new-7"], "id": 63, "name": "arm_sofa_style"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Sofa-style Arm", "objs": ["new-6"], "id": 62, "name": "arm_sofa_style"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-19", "original-20", "original-24", "original-21", "original-4", "original-1", "original-2", "original-3", "original-10", "original-7"], "id": 73, "name": "seat_soft_surface"}], "id": 70, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["new-5"], "id": 71, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["new-4"], "id": 34, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["new-3"], "id": 36, "name": "leg"}, {"text": "Leg", "objs": ["new-2"], "id": 37, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 38, "name": "leg"}, {"text": "Leg", "objs": ["new-0", "original-17"], "id": 39, "name": "leg"}, {"text": "Foot", "objs": ["original-11"], "id": 40, "name": "foot"}, {"text": "Foot", "objs": ["original-12"], "id": 41, "name": "foot"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-5"], "id": 45, "name": "wheel"}], "id": 42, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-13"], "id": 44, "name": "wheel"}], "id": 43, "name": "caster"}], "id": 35, "name": "star_leg_set"}, {"text": "Seat Connector", "objs": ["original-22"], "id": 69, "name": "seat_connector"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39047/result_after_merging.json b/data/PartNet-Mobility/Chair/39047/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..9168cbdd27d0de654e1a7b941205256f7b020296
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "chair", "ori_id": 0, "name": "chair", "id": 0, "children": [{"text": "chair_back", "ori_id": 1, "name": "chair_back", "id": 1, "children": [{"text": "back_surface", "ori_id": 60, "name": "back_surface", "id": 2, "children": [{"name": "back_single_surface", "id": 3, "objs": ["new-8"], "text": "back_single_surface", "ori_id": 61}], "objs": ["new-8"]}], "objs": ["new-8"]}, {"text": "chair_arm", "ori_id": 2, "name": "chair_arm", "id": 4, "children": [{"name": "arm_sofa_style", "id": 5, "objs": ["new-7"], "text": "arm_sofa_style", "ori_id": 63}], "objs": ["new-7"]}, {"text": "chair_arm", "ori_id": 3, "name": "chair_arm", "id": 6, "children": [{"name": "arm_sofa_style", "id": 7, "objs": ["new-6"], "text": "arm_sofa_style", "ori_id": 62}], "objs": ["new-6"]}, {"text": "chair_seat", "ori_id": 4, "name": "chair_seat", "id": 8, "children": [{"text": "seat_surface", "ori_id": 70, "name": "seat_surface", "id": 9, "children": [{"name": "seat_single_surface", "id": 10, "objs": ["original-19", "original-20", "original-24", "original-21", "original-4", "original-1", "original-2", "original-3", "original-10", "original-7"], "text": "seat_single_surface", "ori_id": 73}], "objs": ["original-19", "original-20", "original-24", "original-21", "original-4", "original-1", "original-2", "original-3", "original-10", "original-7"]}, {"name": "seat_support", "id": 11, "objs": ["new-5"], "text": "seat_support", "ori_id": 71}], "objs": ["original-19", "original-20", "original-24", "original-21", "original-4", "original-1", "original-2", "original-3", "original-10", "original-7", "new-5"]}, {"text": "chair_base", "ori_id": 5, "name": "chair_base", "id": 12, "children": [{"text": "star_leg_base", "ori_id": 6, "name": "star_leg_base", "id": 13, "children": [{"name": "central_support", "id": 14, "objs": ["new-4"], "text": "central_support", "ori_id": 34}, {"text": "star_leg_set", "ori_id": 35, "name": "star_leg_set", "id": 15, "children": [{"name": "leg", "id": 16, "objs": ["new-3"], "text": "leg", "ori_id": 36}, {"name": "leg", "id": 17, "objs": ["new-2"], "text": "leg", "ori_id": 37}, {"name": "leg", "id": 18, "objs": ["new-1"], "text": "leg", "ori_id": 38}, {"name": "leg", "id": 19, "objs": ["new-0", "original-17"], "text": "leg", "ori_id": 39}, {"text": "caster", "ori_id": 42, "name": "caster", "id": 20, "children": [{"name": "wheel", "id": 21, "objs": ["original-5"], "text": "wheel", "ori_id": 45}], "objs": ["original-5"]}, {"text": "caster", "ori_id": 43, "name": "caster", "id": 22, "children": [{"name": "wheel", "id": 23, "objs": ["original-13"], "text": "wheel", "ori_id": 44}], "objs": ["original-13"]}], "objs": ["new-3", "new-2", "new-1", "new-0", "original-17", "original-11", "original-12", "original-5", "original-13"]}], "objs": ["new-4", "new-3", "new-2", "new-1", "new-0", "original-17", "original-11", "original-12", "original-5", "original-13", "original-22"]}], "objs": ["new-4", "new-3", "new-2", "new-1", "new-0", "original-17", "original-11", "original-12", "original-5", "original-13", "original-22"]}], "objs": ["new-8", "new-7", "new-6", "original-19", "original-20", "original-24", "original-21", "original-4", "original-1", "original-2", "original-3", "original-10", "original-7", "new-5", "new-4", "new-3", "new-2", "new-1", "new-0", "original-17", "original-11", "original-12", "original-5", "original-13", "original-22"]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39047/semantics.txt b/data/PartNet-Mobility/Chair/39047/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ca1ccc7e73c5d4f132cdd105daebfe9a068d29f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..636f5452d4d9fc7de8276ccc8989b477274ae5a6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/new-0.mtl
@@ -0,0 +1,24 @@
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+
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+newmtl material-2
+illum 3
+d 1
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+Kd 0.7019607843137254 0.7019607843137254 0.7019607843137254 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ae356ffa5d381a01d11e4a838ce2989e5009c60
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/new-0.obj
@@ -0,0 +1,2018 @@
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/new-1.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/new-1.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..636f5452d4d9fc7de8276ccc8989b477274ae5a6
--- /dev/null
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@@ -0,0 +1,24 @@
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13f5807cf7d51d1ec095162e81c12b6bdc2fc93f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/new-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..636f5452d4d9fc7de8276ccc8989b477274ae5a6
--- /dev/null
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@@ -0,0 +1,24 @@
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6cbc477f2fb02c251672f851f69015963a6712e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/new-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..636f5452d4d9fc7de8276ccc8989b477274ae5a6
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c0b9379077306e93989a9315036ea247467bbe2
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-5.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/new-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e7bd4c0d96a09fc0c9fd99dcd57302cd307f806f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/new-5.mtl
@@ -0,0 +1,48 @@
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-5.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/new-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..363f6f09eb279d5f65dcbc1bfd222131fba1279b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/new-5.obj
@@ -0,0 +1,14329 @@
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-6.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/new-6.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/new-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e7bd4c0d96a09fc0c9fd99dcd57302cd307f806f
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@@ -0,0 +1,48 @@
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-7.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/new-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1233f2bc0d8a2cc586568b7185ccad83c2f931cd
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-8.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/new-8.mtl
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/new-8.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/new-8.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-1.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5dcfba6ebfad44a7a3bc653eac7188543e889f37
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-1.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/39047/textured_objs/original-1.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c09e4859b21fc97d95a5c51112baae8e962f4f59
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-1.obj
@@ -0,0 +1,803 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5dcfba6ebfad44a7a3bc653eac7188543e889f37
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.7019607843137254 0.7019607843137254 0.7019607843137254 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd8f98d722a0a54bd88872e8b77a208aaf646e43
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-10.obj
@@ -0,0 +1,808 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/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/39047/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97844bcf999ae8c250f3fad1d3bc85450506739e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-11.obj
@@ -0,0 +1,781 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-12.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/39047/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a36f8c080d61f1fcc1745a173c76530f9fd367e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-12.obj
@@ -0,0 +1,791 @@
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..736cf9203dc04745a198658ae9d6eeaa234c804c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-13.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c965da566ba44cb8c18c74b97cfa7a32a959d29e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-13.obj
@@ -0,0 +1,8958 @@
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5dcfba6ebfad44a7a3bc653eac7188543e889f37
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aa964820b0deb1f6b29f53187ea6f184f0e180f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..736cf9203dc04745a198658ae9d6eeaa234c804c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-19.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0 0 0 
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+
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba0c9f3d4093da260f34e9a9f7559f3a34500378
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-19.obj
@@ -0,0 +1,4584 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5dcfba6ebfad44a7a3bc653eac7188543e889f37
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.7019607843137254 0.7019607843137254 0.7019607843137254 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1320460252a0042dca43a05752319f04719236a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-2.obj
@@ -0,0 +1,802 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..736cf9203dc04745a198658ae9d6eeaa234c804c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-20.mtl
@@ -0,0 +1,14 @@
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+
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac810ad7e7db8b49274e24f2dc9dc94f36936aea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..736cf9203dc04745a198658ae9d6eeaa234c804c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-21.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 0.7019607843137254 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74643fc5f58f122cdb31879a164a38250c8597db
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-21.obj
@@ -0,0 +1,1936 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5dcfba6ebfad44a7a3bc653eac7188543e889f37
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdc3ae0f4b31b91639a029f7ec1fa5aa42ceec1b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-22.obj
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fe150e2e82b28e04064b68bfbbe3de6cd20741d9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-24.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+
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+
diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92fb6d313001078006579551b216e785609de349
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-24.obj
@@ -0,0 +1,20812 @@
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5dcfba6ebfad44a7a3bc653eac7188543e889f37
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 0.7019607843137254 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acda727bf632941ad6ebb244ff94ac662c2454d8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-3.obj
@@ -0,0 +1,788 @@
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5dcfba6ebfad44a7a3bc653eac7188543e889f37
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-4.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/39047/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0696dd557ca20bedf322c8d8db1601800b3a07b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-4.obj
@@ -0,0 +1,800 @@
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..736cf9203dc04745a198658ae9d6eeaa234c804c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-5.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf5a973e68977b663e816f598357c0659de4813c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-5.obj
@@ -0,0 +1,8958 @@
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diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/39047/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5dcfba6ebfad44a7a3bc653eac7188543e889f37
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39047/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/39047/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3159e1dcbb6a3276052118189118f4ea54a7a33e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Chair/39047/tree_hier.html b/data/PartNet-Mobility/Chair/39047/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..9763fa6952ccabfcb46a2959a2541e5d109856e6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/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><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><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>60 back_surface Back Surface</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>63 arm_sofa_style Sofa-style Arm</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>62 arm_sofa_style Sofa-style Arm</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>70 seat_surface Seat Surface</p><a href="parts_render/70.png"><img src="parts_render/70.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>71 seat_support Seat Support</p><a href="parts_render/71.png"><img src="parts_render/71.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 star_leg_base Star-shape Leg Base</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td><p>61 back_hard_surface Back Hard Surface</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>73 seat_soft_surface Seat Soft 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></td><td></td><td></td><td><p>34 central_support Central Support</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 star_leg_set Star-shape Leg Set</p><a href="parts_render/35.png"><img src="parts_render/35.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><p>69 seat_connector Seat Connector</p><a href="parts_render/69.png"><img src="parts_render/69.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>36 leg Leg</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 leg Leg</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 leg Leg</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 leg Leg</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 foot Foot</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 foot Foot</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 caster Wheel Assembly</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>43 caster Wheel Assembly</p><a href="parts_render/43.png"><img src="parts_render/43.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>45 wheel Wheel</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>44 wheel Wheel</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39047/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/39047/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..5ef1ca1578865413d369d8133aadb7ecf2f5f206
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39047/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><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><p>8 chair_seat chair_seat</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><p>12 chair_base chair_base</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.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_sofa_style arm_sofa_style</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_sofa_style arm_sofa_style</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 seat_surface seat_surface</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 seat_support seat_support</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 star_leg_base star_leg_base</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.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><p>10 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>14 central_support central_support</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 star_leg_set star_leg_set</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.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>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></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>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></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39313/bounding_box.json b/data/PartNet-Mobility/Chair/39313/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..e97de6f5cbb4fc91d3f9227a70f45f27ac3a1924
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.556037, -0.772196, -0.481636], "max": [0.552776, 0.829417, 0.579583]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39313/meta.json b/data/PartNet-Mobility/Chair/39313/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58317320292c0c039408bb3f950456e733f92a33
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/meta.json
@@ -0,0 +1 @@
+{"model_id": "71a52b54d732450bdd766137cdd5195c", "anno_id": "39313", "user_id": "shape22", "time_in_sec": "786", "version": "4", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39313/mobility.urdf b/data/PartNet-Mobility/Chair/39313/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0b6095b9fef26b2430f442cb99cbde4396bee752
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/mobility.urdf
@@ -0,0 +1,639 @@
+<?xml version="1.0" ?>
+<robot name="partnet_71a52b54d732450bdd766137cdd5195c">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="caster_stem-42">
+			<origin xyz="-0.506135 0 0.0578075"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.506135 0 0.0578075"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.506135 0 -0.0578075"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-43">
+			<origin xyz="-0.02906918413857748 0.7315512182793177 -0.08945834223256022"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.02906918413857748 0.7315512182793177 -0.08945834223256022"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.4770658158614225 -0.7315512182793177 0.14726584223256023"/>
+		<axis xyz="0.951048985079314 0 -0.30904017211295837"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-44">
+			<origin xyz="-0.02906918413857748 0.7315512182793177 -0.08945834223256022"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.02906918413857748 0.7315512182793177 -0.08945834223256022"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.4770658158614225 -0.7315512182793177 0.14726584223256023"/>
+		<axis xyz="0.951048985079314 0 -0.30904017211295837"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_3">
+		<visual name="caster_stem-39">
+			<origin xyz="-0.3122317279654974 0 -0.5379648613889931"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3122317279654974 0 -0.5379648613889931"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.3122317279654974 0 0.5379648613889931"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_3"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-40">
+			<origin xyz="-0.1856317602631832 0.7315514815506591 -0.5713423973962463"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1856317602631832 0.7315514815506591 -0.5713423973962463"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.12659996770231421 -0.7315514815506591 0.03337753600725313"/>
+		<axis xyz="0.9510607326741586 0 -0.30900401739345185"/>
+		<child link="link_4"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-41">
+			<origin xyz="-0.1856317602631832 0.7315514815506591 -0.5713423973962463"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1856317602631832 0.7315514815506591 -0.5713423973962463"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.12659996770231421 -0.7315514815506591 0.03337753600725313"/>
+		<axis xyz="0.9510607326741586 0 -0.30900401739345185"/>
+		<child link="link_5"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_6">
+		<visual name="caster_stem-36">
+			<origin xyz="0.31304899476187753 0 -0.5367314334527604"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.31304899476187753 0 -0.5367314334527604"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.31304899476187753 0 0.5367314334527604"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_6"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-37">
+			<origin xyz="-0.12559345441503117 0.731551 -0.38640730153096947"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.12559345441503117 0.731551 -0.38640730153096947"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.4386424491769087 -0.731551 -0.15032413192179095"/>
+		<axis xyz="0.9510260415958529 0 -0.3091107701237913"/>
+		<child link="link_7"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-38">
+			<origin xyz="-0.12559345441503117 0.731551 -0.38640730153096947"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.12559345441503117 0.731551 -0.38640730153096947"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.4386424491769087 -0.731551 -0.15032413192179095"/>
+		<axis xyz="0.9510260415958529 0 -0.3091107701237913"/>
+		<child link="link_8"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_9">
+		<visual name="caster_stem-33">
+			<origin xyz="0.5052713029188888 0 0.058536399584619175"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5052713029188888 0 0.058536399584619175"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.5052713029188888 0 -0.058536399584619175"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_9"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel-34">
+			<origin xyz="0.06771929963039117 0.7315511946605939 0.20844277710998235"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.06771929963039117 0.7315511946605939 0.20844277710998235"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.43755200328849764 -0.7315511946605939 -0.14990637752536318"/>
+		<axis xyz="0.9510670631586687 0 -0.30898453258172137"/>
+		<child link="link_10"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel-35">
+			<origin xyz="0.06771929963039117 0.7315511946605939 0.20844277710998235"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.06771929963039117 0.7315511946605939 0.20844277710998235"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="0.43755200328849764 -0.7315511946605939 -0.14990637752536318"/>
+		<axis xyz="0.9510670631586687 0 -0.30898453258172137"/>
+		<child link="link_11"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_12">
+		<visual name="caster_stem-30">
+			<origin xyz="-0.0008787905803136001 0 0.425848594418452"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0008787905803136001 0 0.425848594418452"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="0.0008787905803136001 0 -0.425848594418452"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_12"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_13">
+		<visual name="wheel-31">
+			<origin xyz="0.1273439005815048 0.7315511444279328 0.391942463665019"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.1273439005815048 0.7315511444279328 0.391942463665019"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="-0.1282226911618184 -0.7315511444279328 0.03390613075343302"/>
+		<axis xyz="-0.9510607326741581 0 0.3090040173934534"/>
+		<child link="link_13"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_14">
+		<visual name="wheel-32">
+			<origin xyz="0.1273439005815048 0.7315511444279328 0.391942463665019"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.1273439005815048 0.7315511444279328 0.391942463665019"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="-0.1282226911618184 -0.7315511444279328 0.03390613075343302"/>
+		<axis xyz="-0.9510607326741581 0 0.3090040173934534"/>
+		<child link="link_14"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_15">
+		<visual name="back_soft_surface-73">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_support-70">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-71">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-72">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-61">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-61">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-62">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-62">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-63">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-64">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-57">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-57">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-58">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-58">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-59">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-60">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-51">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-50">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-50">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-17">
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/new-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0025660000000000006 0 -0.10555773045359151"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_15"/>
+		<parent link="link_15_helper"/>
+	</joint>
+	<link name="link_16">
+		<visual name="central_support-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-24">
+			<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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_16"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_15_helper"/>
+	<joint name="joint_17" type="prismatic">
+		<origin xyz="0.0025660000000000006 0 0.10555773045359151"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_15_helper"/>
+		<parent link="link_16"/>
+		<limit lower="0" upper="0.052000000000000046"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/39313/mobility_v2.json b/data/PartNet-Mobility/Chair/39313/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1e9aad9689461ac511b45253e6535b692af0525
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":16,"joint":"hinge","name":"caster_stem","parts":[{"id":42,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.506135,0,-0.0578075],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":43,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.02906918413857748,-0.7315512182793177,0.08945834223256022],"direction":[0.951048985079314,0,-0.30904017211295837]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":44,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.02906918413857748,-0.7315512182793177,0.08945834223256022],"direction":[0.951048985079314,0,-0.30904017211295837]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":16,"joint":"hinge","name":"caster_stem","parts":[{"id":39,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.3122317279654974,0,0.5379648613889931],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":40,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.1856317602631832,-0.7315514815506591,0.5713423973962463],"direction":[0.9510607326741586,0,-0.30900401739345185]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":41,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.1856317602631832,-0.7315514815506591,0.5713423973962463],"direction":[0.9510607326741586,0,-0.30900401739345185]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":16,"joint":"hinge","name":"caster_stem","parts":[{"id":36,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.31304899476187753,0,0.5367314334527604],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":6,"joint":"hinge","name":"wheel","parts":[{"id":37,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.12559345441503117,-0.731551,0.38640730153096947],"direction":[0.9510260415958529,0,-0.3091107701237913]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":6,"joint":"hinge","name":"wheel","parts":[{"id":38,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.12559345441503117,-0.731551,0.38640730153096947],"direction":[0.9510260415958529,0,-0.3091107701237913]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":16,"joint":"hinge","name":"caster_stem","parts":[{"id":33,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.5052713029188888,0,-0.058536399584619175],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":34,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.06771929963039117,-0.7315511946605939,-0.20844277710998235],"direction":[0.9510670631586687,0,-0.30898453258172137]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":35,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.06771929963039117,-0.7315511946605939,-0.20844277710998235],"direction":[0.9510670631586687,0,-0.30898453258172137]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":16,"joint":"hinge","name":"caster_stem","parts":[{"id":30,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.0008787905803136001,0,-0.425848594418452],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":13,"parent":12,"joint":"hinge","name":"wheel","parts":[{"id":31,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.1273439005815048,-0.7315511444279328,-0.391942463665019],"direction":[-0.9510607326741581,0,0.3090040173934534]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":14,"parent":12,"joint":"hinge","name":"wheel","parts":[{"id":32,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.1273439005815048,-0.7315511444279328,-0.391942463665019],"direction":[-0.9510607326741581,0,0.3090040173934534]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":15,"parent":16,"joint":"slider","name":"chair_back","parts":[{"id":73,"name":"back_soft_surface","children":[]},{"id":70,"name":"back_support","children":[]},{"id":71,"name":"back_connector","children":[]},{"id":72,"name":"back_connector","children":[]},{"id":61,"name":"armrest_hard_surface","children":[]},{"id":62,"name":"arm_vertical_bar","children":[]},{"id":63,"name":"arm_vertical_bar","children":[]},{"id":64,"name":"arm_connector","children":[]},{"id":57,"name":"armrest_hard_surface","children":[]},{"id":58,"name":"arm_vertical_bar","children":[]},{"id":59,"name":"arm_vertical_bar","children":[]},{"id":60,"name":"arm_connector","children":[]},{"id":51,"name":"seat_soft_surface","children":[]},{"id":50,"name":"seat_support","children":[]},{"id":17,"name":"central_support","children":[]}],"jointData":{"axis":{"origin":[0.0025660000000000006,0,0.10555773045359151],"direction":[0,-1,0]},"limit":{"a":0,"b":0.0520000000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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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diff --git a/data/PartNet-Mobility/Chair/39313/parts_render/0.txt b/data/PartNet-Mobility/Chair/39313/parts_render/0.txt
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@@ -0,0 +1 @@
+0 chair Sitting Furniture
\ No newline at end of file
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+++ b/data/PartNet-Mobility/Chair/39313/parts_render/11.txt
@@ -0,0 +1 @@
+11 chair_back Chair Back
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39313/parts_render/12.png b/data/PartNet-Mobility/Chair/39313/parts_render/12.png
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@@ -0,0 +1,3 @@
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+++ b/data/PartNet-Mobility/Chair/39313/parts_render/12.txt
@@ -0,0 +1 @@
+12 chair_arm Chair Arm
\ No newline at end of file
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@@ -0,0 +1 @@
+13 chair_arm Chair Arm
\ No newline at end of file
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+14 chair_seat Chair Seat
\ No newline at end of file
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@@ -0,0 +1 @@
+15 chair_base Chair Base
\ No newline at end of file
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+16 star_leg_base Star-shape Leg Base
\ No newline at end of file
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+17 central_support Central Support
\ No newline at end of file
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+18 central_support Central Support
\ 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/39313/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/39313/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c1dd22a760add76260d6f242bc9ba2c522396369
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39313/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/39313/point_sample/pts-10000.txt
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index 0000000000000000000000000000000000000000..cf616b8c8338c490a02e5015cf17f625e4585aba
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diff --git a/data/PartNet-Mobility/Chair/39313/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/39313/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a2c8329e38bed364cf9ea147af99323d250b8f30
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39313/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/39313/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ff90d9b815f6a68b4f9f5326298adf400e35c2c6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/39313/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/39313/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7d73c9d1a70f54b01b49c15e7c28aa40c210e864
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39313/result.json b/data/PartNet-Mobility/Chair/39313/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..085e5c7330b85909f893109336677b557f23732f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-34"], "id": 73, "name": "back_soft_surface"}], "id": 69, "name": "back_surface"}, {"text": "Back Support", "objs": ["original-10"], "id": 70, "name": "back_support"}, {"text": "Back Connector", "objs": ["original-39"], "id": 71, "name": "back_connector"}, {"text": "Back Connector", "objs": ["original-1"], "id": 72, "name": "back_connector"}], "id": 11, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["new-8", "new-12"], "id": 61, "name": "armrest_hard_surface"}, {"text": "Arm Vertical Bar", "objs": ["new-9", "new-11"], "id": 62, "name": "arm_vertical_bar"}, {"text": "Arm Vertical Bar", "objs": ["original-4"], "id": 63, "name": "arm_vertical_bar"}, {"text": "Arm Connector", "objs": ["original-5"], "id": 64, "name": "arm_connector"}], "id": 12, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["new-6", "new-16"], "id": 57, "name": "armrest_hard_surface"}, {"text": "Arm Vertical Bar", "objs": ["new-13", "new-15"], "id": 58, "name": "arm_vertical_bar"}, {"text": "Arm Vertical Bar", "objs": ["original-8"], "id": 59, "name": "arm_vertical_bar"}, {"text": "Arm Connector", "objs": ["original-9"], "id": 60, "name": "arm_connector"}], "id": 13, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-16"], "id": 51, "name": "seat_soft_surface"}], "id": 49, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-12", "original-13"], "id": 50, "name": "seat_support"}], "id": 14, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-14"], "id": 17, "name": "central_support"}, {"text": "Central Support", "objs": ["original-15"], "id": 18, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["new-1"], "id": 20, "name": "leg"}, {"text": "Leg", "objs": ["new-0"], "id": 21, "name": "leg"}, {"text": "Leg", "objs": ["new-4"], "id": 22, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 23, "name": "leg"}, {"text": "Leg", "objs": ["new-2"], "id": 24, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-31"], "id": 42, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-32"], "id": 43, "name": "wheel"}, {"text": "Wheel", "objs": ["original-33"], "id": 44, "name": "wheel"}], "id": 25, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-18"], "id": 39, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-20"], "id": 40, "name": "wheel"}, {"text": "Wheel", "objs": ["original-19"], "id": 41, "name": "wheel"}], "id": 26, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-36"], "id": 36, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-38"], "id": 37, "name": "wheel"}, {"text": "Wheel", "objs": ["original-37"], "id": 38, "name": "wheel"}], "id": 27, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-22"], "id": 33, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-24"], "id": 34, "name": "wheel"}, {"text": "Wheel", "objs": ["original-23"], "id": 35, "name": "wheel"}], "id": 28, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-26"], "id": 30, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-27"], "id": 31, "name": "wheel"}, {"text": "Wheel", "objs": ["original-28"], "id": 32, "name": "wheel"}], "id": 29, "name": "caster"}], "id": 19, "name": "star_leg_set"}], "id": 16, "name": "star_leg_base"}], "id": 15, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39313/result_after_merging.json b/data/PartNet-Mobility/Chair/39313/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..42c1990e62600089375d48cf1fab2cdc99b3521c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"ori_id": 73, "objs": ["original-34"], "name": "back_single_surface", "id": 3, "text": "back_single_surface"}], "ori_id": 69, "text": "back_surface", "objs": ["original-34"], "name": "back_surface", "id": 2}, {"ori_id": 70, "objs": ["original-10"], "name": "back_support", "id": 4, "text": "back_support"}, {"ori_id": 71, "objs": ["original-39"], "name": "back_connector", "id": 5, "text": "back_connector"}, {"ori_id": 72, "objs": ["original-1"], "name": "back_connector", "id": 6, "text": "back_connector"}], "ori_id": 11, "text": "chair_back", "objs": ["original-34", "original-10", "original-39", "original-1"], "name": "chair_back", "id": 1}, {"children": [{"ori_id": 61, "objs": ["new-8", "new-12"], "name": "arm_horizontal_bar", "id": 8, "text": "arm_horizontal_bar"}, {"ori_id": 62, "objs": ["new-9", "new-11"], "name": "arm_near_vertical_bar", "id": 9, "text": "arm_near_vertical_bar"}, {"ori_id": 63, "objs": ["original-4"], "name": "arm_near_vertical_bar", "id": 10, "text": "arm_near_vertical_bar"}, {"ori_id": 64, "objs": ["original-5"], "name": "arm_connector", "id": 11, "text": "arm_connector"}], "ori_id": 12, "text": "chair_arm", "objs": ["new-8", "new-12", "new-9", "new-11", "original-4", "original-5"], "name": "chair_arm", "id": 7}, {"children": [{"ori_id": 57, "objs": ["new-6", "new-16"], "name": "arm_horizontal_bar", "id": 13, "text": "arm_horizontal_bar"}, {"ori_id": 58, "objs": ["new-13", "new-15"], "name": "arm_near_vertical_bar", "id": 14, "text": "arm_near_vertical_bar"}, {"ori_id": 59, "objs": ["original-8"], "name": "arm_near_vertical_bar", "id": 15, "text": "arm_near_vertical_bar"}, {"ori_id": 60, "objs": ["original-9"], "name": "arm_connector", "id": 16, "text": "arm_connector"}], "ori_id": 13, "text": "chair_arm", "objs": ["new-6", "new-16", "new-13", "new-15", "original-8", "original-9"], "name": "chair_arm", "id": 12}, {"children": [{"children": [{"ori_id": 51, "objs": ["original-16"], "name": "seat_single_surface", "id": 19, "text": "seat_single_surface"}], "ori_id": 49, "text": "seat_surface", "objs": ["original-16"], "name": "seat_surface", "id": 18}, {"ori_id": 50, "objs": ["original-12", "original-13"], "name": "seat_support", "id": 20, "text": "seat_support"}], "ori_id": 14, "text": "chair_seat", "objs": ["original-16", "original-12", "original-13"], "name": "chair_seat", "id": 17}, {"children": [{"children": [{"ori_id": 17, "objs": ["original-14"], "name": "central_support", "id": 23, "text": "central_support"}, {"ori_id": 18, "objs": ["original-15"], "name": "central_support", "id": 24, "text": "central_support"}, {"children": [{"ori_id": 20, "objs": ["new-1"], "name": "leg", "id": 26, "text": "leg"}, {"ori_id": 21, "objs": ["new-0"], "name": "leg", "id": 27, "text": "leg"}, {"ori_id": 22, "objs": ["new-4"], "name": "leg", "id": 28, "text": "leg"}, {"ori_id": 23, "objs": ["new-3"], "name": "leg", "id": 29, "text": "leg"}, {"ori_id": 24, "objs": ["new-2"], "name": 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"name": "caster", "id": 47}], "ori_id": 19, "text": "star_leg_set", "objs": ["new-1", "new-0", "new-4", "new-3", "new-2", "original-31", "original-32", "original-33", "original-18", "original-20", "original-19", "original-36", "original-38", "original-37", "original-22", "original-24", "original-23", "original-26", "original-27", "original-28"], "name": "star_leg_set", "id": 25}], "ori_id": 16, "text": "star_leg_base", "objs": ["original-14", "original-15", "new-1", "new-0", "new-4", "new-3", "new-2", "original-31", "original-32", "original-33", "original-18", "original-20", "original-19", "original-36", "original-38", "original-37", "original-22", "original-24", "original-23", "original-26", "original-27", "original-28"], "name": "star_leg_base", "id": 22}], "ori_id": 15, "text": "chair_base", "objs": ["original-14", "original-15", "new-1", "new-0", "new-4", "new-3", "new-2", "original-31", "original-32", "original-33", "original-18", "original-20", "original-19", "original-36", 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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39313/semantics.txt b/data/PartNet-Mobility/Chair/39313/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..41bbf598d6cdbc98c030f203473d1272c243d5c8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/semantics.txt
@@ -0,0 +1,17 @@
+link_0 hinge caster
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge caster
+link_4 hinge wheel
+link_5 hinge wheel
+link_6 hinge caster
+link_7 hinge wheel
+link_8 hinge wheel
+link_9 hinge caster
+link_10 hinge wheel
+link_11 hinge wheel
+link_12 hinge caster
+link_13 hinge wheel
+link_14 hinge wheel
+link_15 slider+ seat
+link_16 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f8b89a3cbe8ba106eb27b318a117e492c70aba58
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/new-0.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
+Kd 0.8274509803921568 0.8274509803921568 0.8274509803921568 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4734f18f48490dff715a36d1601ccfad8a061679
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/new-0.obj
@@ -0,0 +1,1111 @@
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f8b89a3cbe8ba106eb27b318a117e492c70aba58
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/new-1.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d8142d0ff88d6d77408df8e37ccd3c923be37db
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/new-1.obj
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/new-2.mtl
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/new-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f8b89a3cbe8ba106eb27b318a117e492c70aba58
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/new-3.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94665013a06bcea5f6b3faccda8e92e0849111fb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/new-3.obj
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/new-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f8b89a3cbe8ba106eb27b318a117e492c70aba58
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/new-4.mtl
@@ -0,0 +1,8 @@
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+
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6b4b8b0ae6e2b7cdc2110daf2cfccd4f5a79e93
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/new-4.obj
@@ -0,0 +1,1198 @@
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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/39313/textured_objs/new-9.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/new-9.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-1.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-1.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424dfc8f74e42e0a1eedb4529d95bb19c7b0b0e5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-10.obj
@@ -0,0 +1,1760 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bc16ef34e5e13adf31d55981a1493d0c8678eb6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-12.obj
@@ -0,0 +1,83 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-13.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..062465de29995d07dcbb059b812e508fa0d83784
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-14.mtl
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b007ce26eddf73107289ed4ec78ec272501b44d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38f3e54e9040ff0c5b3ba3b1dfa2b6043193f4f4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-15.mtl
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bf450743c44c0cd17a7b2939ba46731874aa18b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..64358c89b9d8ac44640db32c94019713890664e5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.10980392156862745 0.5647058823529412 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a125bd9b41cf6f6691b481accf62b90bd979a8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-16.obj
@@ -0,0 +1,1880 @@
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-18.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/39313/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fe7f234fb9a97210b6c9a5b443ac082edba07e7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-18.obj
@@ -0,0 +1,133 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b030fa40ff04c5cd4c9baf74617c9c4a05c64365
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-19.obj
@@ -0,0 +1,251 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
+o mesh17/mesh17-geometry#mesh17-geometry
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-20.mtl
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb69b2393683ff615ef8a6503fc2a3c3cb74871f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-20.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-22.obj
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38e59eebafde08d5e5299689a716485f2912f272
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4756acef42b6cda8ec0ce6dfcdec19238a1b1ca9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-26.obj
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-27.mtl
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c21489a5686ee1bee61e10fe1faed970a48dbf5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-27.obj
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-28.mtl
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ec220956c7d9e41043a6a6fb16e795f3488c57d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-31.mtl
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-31.obj
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index 0000000000000000000000000000000000000000..8313089189353c10bbb49d255f38f418b6cc5bf6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-32.obj
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index 0000000000000000000000000000000000000000..a6c779d7e336c05aeb94863c2a149c67b788ca4f
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d6e3849b1a9339446cd124b6a090735c2d4c001
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..64358c89b9d8ac44640db32c94019713890664e5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-34.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d681ca78589d34ffe5cc6c5cb4ee61c84a3d7a1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-34.obj
@@ -0,0 +1,3558 @@
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-36.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-36.mtl
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-36.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d92f0735fcdf17570c80bbaf4968e63a9dfefb
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-37.mtl
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2247f32397a3da10417804690f0c8801abaca75e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-38.mtl
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..004f0da13c360f71983be450ea5190abe0256ddf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-38.obj
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..058760fd1e32e02dbbfa78e3faafc012557d00c2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e565a76d3f28d4877e87b6d8f4c8fdf93fb869de
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..058760fd1e32e02dbbfa78e3faafc012557d00c2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8274509803921568 0.8274509803921568 0.8274509803921568 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5519ba21653838338903e6c2d83b30d07650e6f8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-4.obj
@@ -0,0 +1,683 @@
+# SSTK version 0.8.0
+# 4
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..058760fd1e32e02dbbfa78e3faafc012557d00c2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-5.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/39313/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc7b52bc595ae160e7c82f377289e431e492cea5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-5.obj
@@ -0,0 +1,37 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o mesh4/mesh4-geometry#mesh4-geometry
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..058760fd1e32e02dbbfa78e3faafc012557d00c2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bf584d65e41b0a51c9f96db0fdbe5094a78773a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/39313/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..058760fd1e32e02dbbfa78e3faafc012557d00c2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8274509803921568 0.8274509803921568 0.8274509803921568 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39313/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/39313/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ec137655202e554ce2db2d23e486ef6605fe170
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/textured_objs/original-9.obj
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+vn 0 -0.5165457526479933 0.8562595899733434
+vn 0 0.8562607413848916 0.5165438439890614
+vn 0 -0.8562607413848916 -0.5165438439890614
+vn 0 -0.8562595899733434 -0.5165457526479933
+vn 0 0.8562595899733434 0.5165457526479933
+vn 0 -0.5165450194672909 0.8562600322703005
+vn 0 0.5165450194672909 -0.8562600322703005
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//3 4//3 2//3
+f 2//4 4//4 1//4
+f 5//1 3//1 2//1
+f 2//2 3//2 5//2
+f 6//3 2//3 4//3
+f 4//4 2//4 6//4
+f 5//5 7//5 3//5
+f 3//6 7//6 5//6
+f 6//7 4//7 7//7
+f 7//8 4//8 6//8
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+f 7//6 3//6 8//6
+f 8//7 7//7 4//7
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diff --git a/data/PartNet-Mobility/Chair/39313/tree_hier.html b/data/PartNet-Mobility/Chair/39313/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..642e14f10ec5fdf73904939dddcf30849c31db80
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/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>11 chair_back Chair Back</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><p>12 chair_arm Chair Arm</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>13 chair_arm Chair Arm</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>14 chair_seat Chair Seat</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>15 chair_base Chair Base</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td></tr><tr><td><p>69 back_surface Back Surface</p><a href="parts_render/69.png"><img src="parts_render/69.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>70 back_support Back Support</p><a href="parts_render/70.png"><img src="parts_render/70.png" width="100px" height="100px"/></a></td><td></td><td><p>71 back_connector Back Connector</p><a href="parts_render/71.png"><img src="parts_render/71.png" width="100px" height="100px"/></a></td><td></td><td><p>72 back_connector Back Connector</p><a href="parts_render/72.png"><img src="parts_render/72.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>61 armrest_hard_surface Armrest Hard Surface</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_vertical_bar Arm Vertical 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_vertical_bar Arm Vertical Bar</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 arm_connector Arm Connector</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>57 armrest_hard_surface Armrest Hard Surface</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 arm_connector Arm Connector</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>49 seat_surface Seat Surface</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>50 seat_support Seat Support</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>16 star_leg_base Star-shape Leg Base</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td></tr><tr><td><p>73 back_soft_surface Back Soft 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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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 seat_soft_surface Seat Soft Surface</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><p>17 central_support Central Support</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 central_support Central Support</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 star_leg_set Star-shape Leg Set</p><a href="parts_render/19.png"><img src="parts_render/19.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><p>20 leg Leg</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 leg Leg</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 leg Leg</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 leg Leg</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 leg Leg</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 Wheel Assembly</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>26 caster Wheel Assembly</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><p>27 caster Wheel Assembly</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>28 caster Wheel Assembly</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>29 caster Wheel Assembly</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>42 caster_stem Caster Stem</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 wheel Wheel</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 wheel Wheel</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>39 caster_stem Caster Stem</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><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></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>33 caster_stem Caster Stem</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel Wheel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel Wheel</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>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></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39313/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/39313/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..901e828cf30eb3a116d85921f863ea61c15071f3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39313/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></td><td></td><td></td><td></td><td><p>7 chair_arm chair_arm</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></td><td><p>12 chair_arm chair_arm</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></td><td></td><td></td><td><p>17 chair_seat chair_seat</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>21 chair_base chair_base</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td></tr><tr><td><p>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><p>5 back_connector back_connector</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 back_connector back_connector</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>8 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 arm_near_vertical_bar arm_near_vertical_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_connector arm_connector</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td></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_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 arm_connector arm_connector</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>18 seat_surface seat_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><p>20 seat_support seat_support</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 star_leg_base star_leg_base</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td></tr><tr><td><p>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></td><td></td><td><p>19 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>23 central_support central_support</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 central_support central_support</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 star_leg_set star_leg_set</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.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><p>26 leg leg</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 leg leg</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 leg leg</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 leg leg</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 leg leg</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 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><p>47 caster caster</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><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 caster_stem caster_stem</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 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></td><td><p>48 caster_stem caster_stem</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 wheel wheel</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 wheel wheel</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39392/bounding_box.json b/data/PartNet-Mobility/Chair/39392/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..b49e2c2aeec5dbed3d597c429613d5894412aa81
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.5047803791184, -0.908317, -0.3160143357909], "max": [0.4283376059862, 0.821017, 0.6443748964278]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39392/meta.json b/data/PartNet-Mobility/Chair/39392/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8b257759e5f44ec6542f609048f0a1a4e9f0b1a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/meta.json
@@ -0,0 +1 @@
+{"model_id": "732e0abfbd4d09858d775f6f7c8f1b0d", "anno_id": "39392", "user_id": "w15631998789", "time_in_sec": "1415", "version": "5", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39392/mobility.urdf b/data/PartNet-Mobility/Chair/39392/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..71e1761de5011d0178f3e33bde5796949e95acff
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/mobility.urdf
@@ -0,0 +1,568 @@
+<?xml version="1.0" ?>
+<robot name="partnet_732e0abfbd4d09858d775f6f7c8f1b0d">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever-52">
+			<origin xyz="0.07201364567395616 0.2878756017612461 -0.006300374513401467"/>
+			<geometry>
+				<mesh filename="textured_objs/new-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.07201364567395616 0.2878756017612461 -0.006300374513401467"/>
+			<geometry>
+				<mesh filename="textured_objs/new-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.06602788166992805 -0.2878756017612461 -0.16182949087748846"/>
+		<axis xyz="0.0871557 0.0 0.9961947"/>
+		<child link="link_0"/>
+		<parent link="link_7"/>
+		<limit lower="0.0" upper="0.20106192982974674"/>
+	</joint>
+	<link name="link_1">
+		<visual name="knob-53">
+			<origin xyz="0.005676599295000485 -0.0498525882564784 -0.14949451641323278"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.005676599295000485 -0.0498525882564784 -0.14949451641323278"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0003091647090276133 0.0498525882564784 -0.018635348977657146"/>
+		<axis xyz="0.005038862435062099 0.948688517614857 -0.3161719564512006"/>
+		<child link="link_1"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-39">
+			<origin xyz="0.47035440996437305 0.8688011854309167 -0.0345992301053579"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.47035440996437305 0.8688011854309167 -0.0345992301053579"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.031079990561251603 -0.8688011854309167 -0.12668779136242767"/>
+		<axis xyz="0.0753083623791289 -0.0010596923128819986 0.9971597284079217"/>
+		<child link="link_2"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-36">
+			<origin xyz="0.2086254339084732 0.8689442962307872 0.1978476419544309"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2086254339084732 0.8689442962307872 0.1978476419544309"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.07526921296849748 -0.8689442962307872 0.04822352938146343"/>
+		<axis xyz="0.6879536047243677 7.392320707754081e-05 -0.7257546614612187"/>
+		<child link="link_3"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-33">
+			<origin xyz="-0.34220489742729776 0.8689431631090345 0.173638273292614"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.34220489742729776 0.8689431631090345 0.173638273292614"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.018279332689674077 -0.8689431631090345 -0.08426795103173337"/>
+		<axis xyz="0.4526383015818755 7.226980437546242e-05 0.8916942071521665"/>
+		<child link="link_4"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-29">
+			<origin xyz="-0.45387608387115563 0.8689311388927947 -0.2933828260740681"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.45387608387115563 0.8689311388927947 -0.2933828260740681"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.11334778372968413 -0.8689311388927947 -0.13496561551140274"/>
+		<axis xyz="0.542906665442183 3.6270453433803136e-05 -0.8397930385836048"/>
+		<child link="link_5"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-26">
+			<origin xyz="0.3183628934153797 0.8689374999999999 -0.4924640793416296"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3183628934153797 0.8689374999999999 -0.4924640793416296"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.1719751608268108 -0.8689374999999999 -0.08563269020340636"/>
+		<axis xyz="0.8397959020833142 0.0 0.5429022372348938"/>
+		<child link="link_6"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_7">
+		<visual name="back_hard_surface-47">
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/new-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-45">
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-45">
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-45">
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-45">
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-45">
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-44">
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-44">
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-44">
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-44">
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-44">
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_hard_surface-43">
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/new-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-40">
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-54">
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/new-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/new-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/new-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005985764004028098 -0.0 -0.16812986539088992"/>
+			<geometry>
+				<mesh filename="textured_objs/new-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.0 0.0 0.0"/>
+		<axis xyz="0.0 1.0 0.0"/>
+		<child link="link_7"/>
+		<parent link="link_7_helper"/>
+	</joint>
+	<link name="link_8">
+		<visual name="caster_yoke-37">
+			<origin xyz="0.43927441940312145 -0.0 -0.16128702146778556"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-38">
+			<origin xyz="0.43927441940312145 -0.0 -0.16128702146778556"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.43927441940312145 -0.0 -0.16128702146778556"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.43927441940312145 -0.0 -0.16128702146778556"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.43927441940312145 0.0 0.16128702146778556"/>
+		<axis xyz="0.0 1.0 0.0"/>
+		<child link="link_8"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_9">
+		<visual name="caster_yoke-34">
+			<origin xyz="0.13335622093997573 -0.0 0.24607117133589432"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-35">
+			<origin xyz="0.13335622093997573 -0.0 0.24607117133589432"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.13335622093997573 -0.0 0.24607117133589432"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.13335622093997573 -0.0 0.24607117133589432"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.13335622093997573 0.0 -0.24607117133589432"/>
+		<axis xyz="0.0 1.0 0.0"/>
+		<child link="link_9"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_10">
+		<visual name="caster_yoke-31">
+			<origin xyz="-0.36048423011697184 -0.0 0.08937032226088062"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-32">
+			<origin xyz="-0.36048423011697184 -0.0 0.08937032226088062"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.36048423011697184 -0.0 0.08937032226088062"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.36048423011697184 -0.0 0.08937032226088062"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.36048423011697184 0.0 -0.08937032226088062"/>
+		<axis xyz="0.0 1.0 0.0"/>
+		<child link="link_10"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_11">
+		<visual name="caster_stem-28">
+			<origin xyz="-0.3405283001414715 -0.0 -0.42834844158547086"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_yoke-30">
+			<origin xyz="-0.3405283001414715 -0.0 -0.42834844158547086"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3405283001414715 -0.0 -0.42834844158547086"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3405283001414715 -0.0 -0.42834844158547086"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="0.3405283001414715 0.0 0.42834844158547086"/>
+		<axis xyz="0.0 1.0 0.0"/>
+		<child link="link_11"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_12">
+		<visual name="caster_yoke-25">
+			<origin xyz="0.1463877325885689 -0.0 -0.578096769545036"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-27">
+			<origin xyz="0.1463877325885689 -0.0 -0.578096769545036"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.1463877325885689 -0.0 -0.578096769545036"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.1463877325885689 -0.0 -0.578096769545036"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="-0.1463877325885689 0.0 0.578096769545036"/>
+		<axis xyz="0.0 1.0 0.0"/>
+		<child link="link_12"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_13">
+		<visual name="central_support-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.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_7_helper"/>
+	<joint name="joint_14" type="prismatic">
+		<origin xyz="-0.005985764004028098 0.0 0.16812986539088992"/>
+		<axis xyz="-0.0 -1.0 -0.0"/>
+		<child link="link_7_helper"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.06000000000000005"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/39392/mobility_v2.json b/data/PartNet-Mobility/Chair/39392/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..566c8b30fd235dccffc6573cde9e0632e5f78f8c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 7, "joint": "hinge", "name": "lever", "parts": [{"id": 52, "name": "lever", "children": []}], "jointData": {"axis": {"origin": [-0.07201364567395616, -0.2878756017612461, 0.006300374513401467], "direction": [0.0871557, 0.0, 0.9961947]}, "limit": {"a": 0, "b": 11.52, "noLimit": false}}}, {"id": 1, "parent": 7, "joint": "hinge", "name": "knob", "parts": [{"id": 53, "name": "knob", "children": []}], "jointData": {"axis": {"origin": [-0.005676599295000485, 0.0498525882564784, 0.14949451641323278], "direction": [0.005038862435062099, 0.948688517614857, -0.3161719564512006]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": 8, "joint": "hinge", "name": "wheel", "parts": [{"id": 39, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [-0.47035440996437305, -0.8688011854309167, 0.0345992301053579], "direction": [0.0753083623791289, -0.0010596923128819986, 0.9971597284079217]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": 9, "joint": "hinge", "name": "wheel", "parts": [{"id": 36, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [-0.2086254339084732, -0.8689442962307872, -0.1978476419544309], "direction": [0.6879536047243677, 7.392320707754081e-05, -0.7257546614612187]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 4, "parent": 10, "joint": "hinge", "name": "wheel", "parts": [{"id": 33, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0.34220489742729776, -0.8689431631090345, -0.173638273292614], "direction": [0.4526383015818755, 7.226980437546242e-05, 0.8916942071521665]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 5, "parent": 11, "joint": "hinge", "name": "wheel", "parts": [{"id": 29, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0.45387608387115563, -0.8689311388927947, 0.2933828260740681], "direction": [0.542906665442183, 3.6270453433803136e-05, -0.8397930385836048]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 6, "parent": 12, "joint": "hinge", "name": "wheel", "parts": [{"id": 26, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [-0.3183628934153797, -0.8689374999999999, 0.4924640793416296], "direction": [0.8397959020833142, 0.0, 0.5429022372348938]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 7, "parent": 13, "joint": "slider", "name": "back_hard_surface", "parts": [{"id": 47, "name": "back_hard_surface", "children": []}, {"id": 45, "name": "arm_holistic_frame", "children": []}, {"id": 44, "name": "arm_holistic_frame", "children": []}, {"id": 43, "name": "seat_hard_surface", "children": []}, {"id": 40, "name": "central_support", "children": []}, {"id": 54, "name": "mounting_plate", "children": []}], "jointData": {"axis": {"origin": [-0.005985764004028098, 0.0, 0.16812986539088992], "direction": [0.0, 1.0, 0.0]}, "limit": {"a": 0, "b": -0.06000000000000005, "noLimit": false, "rotates": true, "noRotationLimit": true, "rotationLimit": 0}}}, {"id": 8, "parent": 13, "joint": "hinge", "name": "caster_yoke", "parts": [{"id": 37, "name": "caster_yoke", "children": []}, {"id": 38, "name": "caster_stem", "children": []}], "jointData": {"axis": {"origin": [-0.43927441940312145, 0.0, 0.16128702146778556], "direction": [0.0, 1.0, 0.0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 9, "parent": 13, "joint": "hinge", "name": "caster_yoke", "parts": [{"id": 34, "name": "caster_yoke", "children": []}, {"id": 35, "name": "caster_stem", "children": []}], "jointData": {"axis": {"origin": [-0.13335622093997573, 0.0, -0.24607117133589432], "direction": [0.0, 1.0, 0.0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 10, "parent": 13, "joint": "hinge", "name": "caster_yoke", "parts": [{"id": 31, "name": "caster_yoke", "children": []}, {"id": 32, "name": "caster_stem", "children": []}], "jointData": {"axis": {"origin": [0.36048423011697184, 0.0, -0.08937032226088062], "direction": [0.0, 1.0, 0.0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 11, "parent": 13, "joint": "hinge", "name": "caster_stem", "parts": [{"id": 28, "name": "caster_stem", "children": []}, {"id": 30, "name": "caster_yoke", "children": []}], "jointData": {"axis": {"origin": [0.3405283001414715, 0.0, 0.42834844158547086], "direction": [0.0, 1.0, 0.0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 12, "parent": 13, "joint": "hinge", "name": "caster_yoke", "parts": [{"id": 25, "name": "caster_yoke", "children": []}, {"id": 27, "name": "caster_stem", "children": []}], "jointData": {"axis": {"origin": [-0.1463877325885689, 0.0, 0.578096769545036], "direction": [0.0, 1.0, 0.0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 13, "parent": -1, "joint": "free", "name": "central_support", "parts": [{"id": 10, "name": "central_support", "children": []}, {"id": 12, "name": "leg", "children": []}, {"id": 13, "name": "leg", "children": []}, {"id": 14, "name": "leg", "children": []}, {"id": 15, "name": "leg", "children": []}, {"id": 16, "name": "leg", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39392/parts_render/0.png b/data/PartNet-Mobility/Chair/39392/parts_render/0.png
new file mode 100644
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+++ b/data/PartNet-Mobility/Chair/39392/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ef5b4b84b86c00e09e0ceed1a7624019c46e22de4404a8f7e3dc772cd0a30c
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diff --git a/data/PartNet-Mobility/Chair/39392/parts_render/0.txt b/data/PartNet-Mobility/Chair/39392/parts_render/0.txt
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/parts_render/0.txt
@@ -0,0 +1 @@
+0 chair Sitting Furniture
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39392/parts_render/1.png b/data/PartNet-Mobility/Chair/39392/parts_render/1.png
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+++ b/data/PartNet-Mobility/Chair/39392/parts_render/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/data/PartNet-Mobility/Chair/39392/parts_render/1.txt b/data/PartNet-Mobility/Chair/39392/parts_render/1.txt
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/parts_render/1.txt
@@ -0,0 +1 @@
+1 chair_back Chair Back
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39392/parts_render/10.png b/data/PartNet-Mobility/Chair/39392/parts_render/10.png
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@@ -0,0 +1,3 @@
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+++ b/data/PartNet-Mobility/Chair/39392/parts_render/10.txt
@@ -0,0 +1 @@
+10 central_support Central Support
\ No newline at end of file
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@@ -0,0 +1,3 @@
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@@ -0,0 +1 @@
+11 star_leg_set Star-shape Leg Set
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39392/parts_render/12.png b/data/PartNet-Mobility/Chair/39392/parts_render/12.png
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@@ -0,0 +1 @@
+12 leg Leg
\ No newline at end of file
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+++ b/data/PartNet-Mobility/Chair/39392/parts_render/13.txt
@@ -0,0 +1 @@
+13 leg Leg
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39392/parts_render/14.png b/data/PartNet-Mobility/Chair/39392/parts_render/14.png
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+++ b/data/PartNet-Mobility/Chair/39392/parts_render/14.txt
@@ -0,0 +1 @@
+14 leg Leg
\ No newline at end of file
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+15 leg Leg
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39392/parts_render/16.png b/data/PartNet-Mobility/Chair/39392/parts_render/16.png
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+16 leg Leg
\ No newline at end of file
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+17 caster Wheel Assembly
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39392/parts_render/18.png b/data/PartNet-Mobility/Chair/39392/parts_render/18.png
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diff --git a/data/PartNet-Mobility/Chair/39392/parts_render/18.txt b/data/PartNet-Mobility/Chair/39392/parts_render/18.txt
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diff --git a/data/PartNet-Mobility/Chair/39392/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/39392/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..27f83f7f170f451dc9705186ceae223cba6d5201
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39392/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/39392/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..6c8ba05cc65e1b4708fb1ee5eb6dc8c58dd1f2ca
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39392/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/39392/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..68ec99d471d9bfec6796d78bf1df094cf028de6a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39392/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/39392/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..16eb68bfb07ed8085038f462c22169c08091fb9d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/point_sample/sample-points-all-label-10000.txt
@@ -0,0 +1,10000 @@
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diff --git a/data/PartNet-Mobility/Chair/39392/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/39392/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f3c40809ad857e22904d995c619fd3d8c263d6a5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39392/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/39392/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cab4874c919fba19139da5e1f711644b04b967c7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39392/result.json b/data/PartNet-Mobility/Chair/39392/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f60643a1fc4d906ca39db71cb6cc418e682d2281
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Hard Surface", "objs": ["new-17"], "id": 47, "name": "back_hard_surface"}], "id": 46, "name": "back_surface"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-27", "original-32", "original-29", "original-30", "original-31"], "id": 45, "name": "arm_holistic_frame"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-33", "original-35", "original-34", "original-36", "original-37"], "id": 44, "name": "arm_holistic_frame"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Hard Surface", "objs": ["new-16"], "id": 43, "name": "seat_hard_surface"}], "id": 41, "name": "seat_surface"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["new-9"], "id": 10, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["new-7"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["new-6"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["new-5"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["new-4"], "id": 15, "name": "leg"}, {"text": "Leg", "objs": ["new-8"], "id": 16, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-6"], "id": 37, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-19"], "id": 38, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-4"], "id": 39, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["new-3"], "id": 34, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["new-2"], "id": 35, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-16"], "id": 36, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-5"], "id": 31, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-11"], "id": 32, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-2"], "id": 33, "name": "wheel"}], "id": 19, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["new-0"], "id": 28, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-3"], "id": 29, "name": "wheel"}, {"text": "Caster Yoke", "objs": ["new-1"], "id": 30, "name": "caster_yoke"}], "id": 20, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-21"], "id": 25, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-13"], "id": 26, "name": "wheel"}, {"text": "Caster Stem", "objs": ["original-22"], "id": 27, "name": "caster_stem"}], "id": 21, "name": "caster"}], "id": 11, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["new-10"], "id": 40, "name": "central_support"}, {"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["new-14"], "id": 52, "name": "lever"}, {"text": "Knob", "objs": ["original-61"], "id": 53, "name": "knob"}, {"text": "Mounting Plane", "objs": ["new-15"], "id": 54, "name": "mounting_plate"}], "id": 48, "name": "mechanical_control"}], "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/39392/result_after_merging.json b/data/PartNet-Mobility/Chair/39392/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee7ef88c486abbfe4ba7d45632cf22c2f2d32071
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["new-17", "original-27", "original-32", "original-29", "original-30", "original-31", "original-33", "original-35", "original-34", "original-36", "original-37", "new-16", "new-9", "new-7", "new-6", "new-5", "new-4", "new-8", "original-6", "original-19", "original-4", "new-3", "new-2", "original-16", "original-5", "original-11", "original-2", "new-0", "original-3", "new-1", "original-21", "original-13", "original-22", "new-10", "new-14", "original-61", "new-15"], "text": "chair", "ori_id": 0, "name": "chair", "children": [{"objs": ["new-17"], "text": "chair_back", "ori_id": 1, "name": "chair_back", "children": [{"objs": ["new-17"], "text": "back_surface", "ori_id": 46, "name": "back_surface", "children": [{"objs": ["new-17"], "id": 3, "name": "back_single_surface", "ori_id": 47, "text": "back_single_surface"}], "id": 2}], "id": 1}, {"objs": ["original-27", "original-32", "original-29", "original-30", "original-31"], "text": "chair_arm", "ori_id": 2, "name": "chair_arm", "children": [{"objs": ["original-27", "original-32", "original-29", "original-30", "original-31"], "id": 5, "name": "arm_holistic_frame", "ori_id": 45, "text": "arm_holistic_frame"}], "id": 4}, {"objs": ["original-33", "original-35", "original-34", "original-36", "original-37"], "text": "chair_arm", "ori_id": 3, "name": "chair_arm", "children": [{"objs": ["original-33", "original-35", "original-34", "original-36", "original-37"], "id": 7, "name": "arm_holistic_frame", "ori_id": 44, "text": "arm_holistic_frame"}], "id": 6}, {"objs": ["new-16"], "text": "chair_seat", "ori_id": 4, "name": "chair_seat", "children": [{"objs": ["new-16"], "text": "seat_surface", "ori_id": 41, "name": "seat_surface", "children": [{"objs": ["new-16"], "id": 10, "name": "seat_single_surface", "ori_id": 43, "text": "seat_single_surface"}], "id": 9}], "id": 8}, {"objs": ["new-9", "new-7", "new-6", "new-5", "new-4", "new-8", "original-6", "original-19", "original-4", "new-3", "new-2", "original-16", "original-5", "original-11", "original-2", "new-0", "original-3", "new-1", "original-21", "original-13", "original-22", "new-10", "new-14", "original-61", "new-15"], "text": "chair_base", "ori_id": 5, "name": "chair_base", "children": [{"objs": ["new-9", "new-7", "new-6", "new-5", "new-4", "new-8", "original-6", "original-19", "original-4", "new-3", "new-2", "original-16", "original-5", "original-11", "original-2", "new-0", "original-3", "new-1", "original-21", "original-13", "original-22", "new-10", "new-14", "original-61", "new-15"], "text": "star_leg_base", "ori_id": 7, "name": "star_leg_base", "children": [{"objs": ["new-9"], "id": 13, "name": "central_support", "ori_id": 10, "text": "central_support"}, {"objs": ["new-7", "new-6", "new-5", "new-4", "new-8", "original-6", "original-19", "original-4", "new-3", "new-2", "original-16", "original-5", "original-11", "original-2", "new-0", "original-3", "new-1", "original-21", "original-13", "original-22"], "text": "star_leg_set", "ori_id": 11, "name": "star_leg_set", "children": [{"objs": ["new-7"], "id": 15, "name": "leg", "ori_id": 12, "text": "leg"}, {"objs": ["new-6"], "id": 16, "name": "leg", "ori_id": 13, "text": "leg"}, {"objs": ["new-5"], "id": 17, "name": "leg", "ori_id": 14, "text": "leg"}, {"objs": ["new-4"], "id": 18, "name": "leg", "ori_id": 15, "text": "leg"}, {"objs": ["new-8"], "id": 19, "name": "leg", "ori_id": 16, "text": "leg"}, {"objs": ["original-6", "original-19", "original-4"], "text": "caster", "ori_id": 17, "name": "caster", "children": [{"objs": ["original-19"], "id": 21, "name": "caster_stem", "ori_id": 38, "text": "caster_stem"}, {"objs": ["original-4"], "id": 22, "name": "wheel", "ori_id": 39, "text": "wheel"}], "id": 20}, {"objs": ["new-3", "new-2", "original-16"], "text": "caster", "ori_id": 18, "name": "caster", "children": [{"objs": ["new-2"], "id": 24, "name": "caster_stem", "ori_id": 35, "text": "caster_stem"}, {"objs": ["original-16"], "id": 25, "name": "wheel", "ori_id": 36, "text": "wheel"}], "id": 23}, {"objs": ["original-5", "original-11", "original-2"], "text": "caster", "ori_id": 19, "name": "caster", "children": [{"objs": ["original-11"], "id": 27, "name": "caster_stem", "ori_id": 32, "text": "caster_stem"}, {"objs": ["original-2"], "id": 28, "name": "wheel", "ori_id": 33, "text": "wheel"}], "id": 26}, {"objs": ["new-0", "original-3", "new-1"], "text": "caster", "ori_id": 20, "name": "caster", "children": [{"objs": ["new-0"], "id": 30, "name": "caster_stem", "ori_id": 28, "text": "caster_stem"}, {"objs": ["original-3"], "id": 31, "name": "wheel", "ori_id": 29, "text": "wheel"}], "id": 29}, {"objs": ["original-21", "original-13", "original-22"], "text": "caster", "ori_id": 21, "name": "caster", "children": [{"objs": ["original-13"], "id": 33, "name": "wheel", "ori_id": 26, "text": "wheel"}, {"objs": ["original-22"], "id": 34, "name": "caster_stem", "ori_id": 27, "text": "caster_stem"}], "id": 32}], "id": 14}, {"objs": ["new-10"], "id": 35, "name": "central_support", "ori_id": 40, "text": "central_support"}, {"objs": ["new-14", "original-61", "new-15"], "text": "mechanical_control", "ori_id": 48, "name": "mechanical_control", "children": [{"objs": ["new-14"], "id": 37, "name": "lever", "ori_id": 52, "text": "lever"}, {"objs": ["original-61"], "id": 38, "name": "knob", "ori_id": 53, "text": "knob"}], "id": 36}], "id": 12}], "id": 11}], "id": 0}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39392/semantics.txt b/data/PartNet-Mobility/Chair/39392/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3f4aaf17fdae99771182fb607363042525e683ec
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/semantics.txt
@@ -0,0 +1,14 @@
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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
+link_7 slider+ seat
+link_8 hinge caster
+link_9 hinge caster
+link_10 hinge caster
+link_11 hinge caster
+link_12 hinge caster
+link_13 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4ee87293e75e7b79ae1d29df35aac56154692008
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/new-0.mtl
@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2de77d0fb2224e667bdba3ef3ed6ffd19c7573e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/new-0.obj
@@ -0,0 +1,237 @@
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/new-1.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/new-1.obj
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index 0000000000000000000000000000000000000000..3480e7dde1041796cd7c1f2eeff966d789cb0aa0
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-10.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/new-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40006896f8022bc7f0d7fc4afd224ced48977e1e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-10.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/new-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..894c110b8e1fb3b05b5f3bf694a196c0592b4cfe
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-14.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/new-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40006896f8022bc7f0d7fc4afd224ced48977e1e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-14.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/new-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6596f53d33f2f6e0e3a02145ddcf3bb1c23c1ac4
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-15.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/new-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40006896f8022bc7f0d7fc4afd224ced48977e1e
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-15.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/new-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6235f5256e9100222d1b5a4de5bed63cdb1e322f
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-16.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/new-16.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-16.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/new-16.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-17.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/new-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40006896f8022bc7f0d7fc4afd224ced48977e1e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-17.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/new-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c141e95ba037e5ce58badeea3bc42d6b166e3130
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/new-2.mtl
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/new-3.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/new-3.obj
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/new-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6792e7d18d0c6aff32ffcbe4ef3176d4f9160ff5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/new-4.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca522acdf2ceb9a12e38dea2a32896fc0975a6fb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/new-4.obj
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-5.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/new-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6792e7d18d0c6aff32ffcbe4ef3176d4f9160ff5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/new-5.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-5.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/new-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08347202d42f073a61b79e7b2cec1bf203dcf5e2
--- /dev/null
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-6.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/new-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6792e7d18d0c6aff32ffcbe4ef3176d4f9160ff5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/new-6.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
+Kd 0.20392156862745098 0.20392156862745098 0.20392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+
diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-6.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/new-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ff87b36fdc6f07e1beabb1ac73a8c0603389b84
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/new-6.obj
@@ -0,0 +1,3395 @@
+mtllib new-6.mtl
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/new-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6792e7d18d0c6aff32ffcbe4ef3176d4f9160ff5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-7.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/new-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ef086c3d7a89de63187c9d309e40d3991b1d4a3
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-8.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/new-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6792e7d18d0c6aff32ffcbe4ef3176d4f9160ff5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-8.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/new-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f73e7ad671176278f5516a50e3c3cc7b1f3cc9
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-9.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/new-9.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/new-9.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/new-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce928a87ee4392eb287a55464bfb7f3ab177f905
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da1dfe745ebfc87c41c5f262a4233cbd22b1d1dd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-11.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8374830d443c58eeaa4cc183440ff97dd6c214f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-11.obj
@@ -0,0 +1,568 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-13.mtl
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa1d055398234510f7e6e11ba7a3a1a3cbec8e39
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.20392156862745098 0.20392156862745098 0.20392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e129ee09c9859597bb513794e74af233d759e11
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-16.obj
@@ -0,0 +1,4787 @@
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cc2873b36a1e071211e42ad189a65dd12257cec8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-19.mtl
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab79578320fc5990550cb31af735269f5bf5a57b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-2.obj
@@ -0,0 +1,4789 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0de8a793364772dc8f4d284aa40f67c83b6b4fbc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da1dfe745ebfc87c41c5f262a4233cbd22b1d1dd
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-22.obj
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index 0000000000000000000000000000000000000000..8da427795249f3a470714d74df9105948ec4d60b
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-27.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/39392/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e41deccc742983e57165271da4c2c8ccf9f47269
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-27.obj
@@ -0,0 +1,4308 @@
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.20392156862745098 0.20392156862745098 0.20392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c652cafaf4307f3c2905c740cf03d5998d673897
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-29.obj
@@ -0,0 +1,263 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
+o mesh29/mesh29-geometry#mesh29-geometry
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..274cedf9d83f518683e66ef38c21d832f1466a9c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e15ff4726cff10a8d038bba95d1dcc65a9214ec
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-30.obj
@@ -0,0 +1,263 @@
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..305f5f71adc3a79f20c488ea0fdb0b6619b3b890
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2594f3010cf736f407cf00de0d8c54206d9c8e2a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-32.obj
@@ -0,0 +1,263 @@
+# SSTK version 0.8.0
+# 32
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-33.mtl
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cae4110f06c4e37e57e237aba5f249090dccda8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-33.obj
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-34.mtl
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f800c5e1509134e73a4ea2b40e375766d4d00eb4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-34.obj
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-35.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ed456871207fe26fb4b5404fb74661586b1feef
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-36.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-36.mtl
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-36.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d24c105381bb7788a9200f87c0235619657e8693
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-36.obj
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-37.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf0afd2b809b070591061b5740e042802ea67de0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-37.obj
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3635bad33a283bb30fe8e85bc83bed0ee4c6768c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.20392156862745098 0.20392156862745098 0.20392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e9c2ed286d9930fc73776f9a1537f5bc1535180
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-5.obj
@@ -0,0 +1,305 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o mesh5/mesh5-geometry#mesh5-geometry
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..309004d85fb3896eba69217aacb36a1b3d8c9409
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-61.mtl b/data/PartNet-Mobility/Chair/39392/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-61.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39392/textured_objs/original-61.obj b/data/PartNet-Mobility/Chair/39392/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e42b14700f53d914880e51317e650f67e43284ab
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/textured_objs/original-61.obj
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diff --git a/data/PartNet-Mobility/Chair/39392/tree_hier.html b/data/PartNet-Mobility/Chair/39392/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..3ba865c7486c95b4e7f643548673e4c36b76acfb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39392/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><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><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>46 back_surface Back 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><p>45 arm_holistic_frame Arm Holistic Frame</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>44 arm_holistic_frame Arm Holistic Frame</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>41 seat_surface Seat Surface</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></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>47 back_hard_surface Back Hard Surface</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>43 seat_hard_surface Seat Hard Surface</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>10 central_support Central Support</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></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><p>40 central_support Central Support</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>48 mechanical_control Mechanical Control</p><a href="parts_render/48.png"><img src="parts_render/48.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><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><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><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><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><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><p>52 lever Lever</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 knob Knob</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 mounting_plate Mounting Plane</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><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></td><td><p>34 caster_yoke Caster Yoke</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 caster_stem Caster Stem</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>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></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 caster_yoke Caster Yoke</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>25 caster_yoke Caster Yoke</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 wheel Wheel</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 caster_stem Caster Stem</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39392/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/39392/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..75e224e9591c000073a99ac3231ab7d96434719d
--- /dev/null
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@@ -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><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><p>8 chair_seat chair_seat</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><p>11 chair_base chair_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>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_holistic_frame arm_holistic_frame</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_holistic_frame arm_holistic_frame</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 seat_surface seat_surface</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></td><td><p>12 star_leg_base star_leg_base</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.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><p>10 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>35 central_support central_support</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 mechanical_control mechanical_control</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.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><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></td><td></td><td><p>23 caster caster</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><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></td><td></td><td><p>29 caster caster</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><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></td><td><p>37 lever lever</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 knob knob</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.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>21 caster_stem caster_stem</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 wheel wheel</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_stem caster_stem</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 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 caster_stem caster_stem</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 wheel wheel</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><p>30 caster_stem caster_stem</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel wheel</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></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 caster_stem caster_stem</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39432/bounding_box.json b/data/PartNet-Mobility/Chair/39432/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..576c0ac83f141d53ad99615e4b41e7814cd865e5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.593868, -0.826859, -0.456527], "max": [0.580477, 0.869076, 0.690648]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39432/meta.json b/data/PartNet-Mobility/Chair/39432/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3c99593c20d930935cd66c89ce7abe991583a62
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/meta.json
@@ -0,0 +1 @@
+{"model_id": "740cc6d4d1c6901eadb91c074e672e22", "anno_id": "39432", "user_id": "yzwangshuo", "time_in_sec": "1937", "version": "8", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39432/mobility.urdf b/data/PartNet-Mobility/Chair/39432/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b9c6c3a3e89e357ad113da0c026cf3da13edf3b0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/mobility.urdf
@@ -0,0 +1,1095 @@
+<?xml version="1.0" ?>
+<robot name="partnet_740cc6d4d1c6901eadb91c074e672e22">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="wheel-159">
+			<origin xyz="-0.08362162349077178 0.773323 0.11626714897601595"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08362162349077178 0.773323 0.11626714897601595"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.3965981234907718 -0.773323 0.23879835102398408"/>
+		<axis xyz="0.8118346071406497 0 0.5838874640277759"/>
+		<child link="link_0"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-160">
+			<origin xyz="-0.08362162349077178 0.773323 0.11626714897601595"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08362162349077178 0.773323 0.11626714897601595"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.3965981234907718 -0.773323 0.23879835102398408"/>
+		<axis xyz="0.8118346071406497 0 0.5838874640277759"/>
+		<child link="link_1"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-155">
+			<origin xyz="0.08116105366099133 0.773323 0.11056907327472888"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.08116105366099133 0.773323 0.11056907327472888"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.4271959463390086 -0.773323 -0.3603415732747289"/>
+		<axis xyz="-0.8061369857860847 0 0.5917289583480987"/>
+		<child link="link_2"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-156">
+			<origin xyz="0.08116105366099133 0.773323 0.11056907327472888"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.08116105366099133 0.773323 0.11056907327472888"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.4271959463390086 -0.773323 -0.3603415732747289"/>
+		<axis xyz="-0.8061369857860847 0 0.5917289583480987"/>
+		<child link="link_3"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-151">
+			<origin xyz="0.21531610532380974 0.7733094419388357 -0.07109566572646701"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.21531610532380974 0.7733094419388357 -0.07109566572646701"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.22181860532380973 -0.7733094419388357 -0.551400334273533"/>
+		<axis xyz="-0.3136109155063942 2.130859155745582e-05 -0.9495515748084384"/>
+		<child link="link_4"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-152">
+			<origin xyz="0.21531610532380974 0.7733094419388357 -0.07109566572646701"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.21531610532380974 0.7733094419388357 -0.07109566572646701"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.22181860532380973 -0.7733094419388357 -0.551400334273533"/>
+		<axis xyz="-0.3136109155063942 2.130859155745582e-05 -0.9495515748084384"/>
+		<child link="link_5"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-147">
+			<origin xyz="-0.0013830351664696058 0.7733227964018106 -0.2882047684319045"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0013830351664696058 0.7733227964018106 -0.2882047684319045"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.5187009648335303 -0.7733227964018106 0.040191268431904514"/>
+		<axis xyz="-0.9999884859895921 0 0.004798738192862558"/>
+		<child link="link_6"/>
+		<parent link="link_15"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-148">
+			<origin xyz="-0.0013830351664696058 0.7733227964018106 -0.2882047684319045"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0013830351664696058 0.7733227964018106 -0.2882047684319045"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.5187009648335303 -0.7733227964018106 0.040191268431904514"/>
+		<axis xyz="-0.9999884859895921 0 0.004798738192862558"/>
+		<child link="link_7"/>
+		<parent link="link_15"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-143">
+			<origin xyz="-0.22537515511380776 0.7733263605818732 -0.07202219064451804"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.22537515511380776 0.7733263605818732 -0.07202219064451804"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.09725984488619224 -0.7733263605818732 0.42817519064451803"/>
+		<axis xyz="0.30442303380704805 7.230351066753595e-06 -0.9525369370451915"/>
+		<child link="link_8"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-144">
+			<origin xyz="-0.22537515511380776 0.7733263605818732 -0.07202219064451804"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.22537515511380776 0.7733263605818732 -0.07202219064451804"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.09725984488619224 -0.7733263605818732 0.42817519064451803"/>
+		<axis xyz="0.30442303380704805 7.230351066753595e-06 -0.9525369370451915"/>
+		<child link="link_9"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_10">
+		<visual name="seat_hard_surface-200">
+			<origin xyz="-0.005577500000000001 0 -0.0818125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_hard_surface-200">
+			<origin xyz="-0.005577500000000001 0 -0.0818125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_hard_surface-197">
+			<origin xyz="-0.005577500000000001 0 -0.0818125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_hard_surface-197">
+			<origin xyz="-0.005577500000000001 0 -0.0818125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_hard_surface-197">
+			<origin xyz="-0.005577500000000001 0 -0.0818125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_hard_surface-197">
+			<origin xyz="-0.005577500000000001 0 -0.0818125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_hard_surface-197">
+			<origin xyz="-0.005577500000000001 0 -0.0818125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_hard_surface-197">
+			<origin xyz="-0.005577500000000001 0 -0.0818125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_hard_surface-197">
+			<origin xyz="-0.005577500000000001 0 -0.0818125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_hard_surface-197">
+			<origin xyz="-0.005577500000000001 0 -0.0818125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_hard_surface-197">
+			<origin xyz="-0.005577500000000001 0 -0.0818125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_hard_surface-197">
+			<origin xyz="-0.005577500000000001 0 -0.0818125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_hard_surface-197">
+			<origin xyz="-0.005577500000000001 0 -0.0818125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_hard_surface-197">
+			<origin xyz="-0.005577500000000001 0 -0.0818125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_vertical_bar-204">
+			<origin xyz="-0.005577500000000001 0 -0.0818125"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
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+	<link name="link_13">
+		<visual name="caster_yoke-153">
+			<origin xyz="0.508357 0 -0.2497725"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-154">
+			<origin xyz="0.508357 0 -0.2497725"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-154">
+			<origin xyz="0.508357 0 -0.2497725"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.508357 0 -0.2497725"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.508357 0 -0.2497725"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.508357 0 -0.2497725"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="-0.508357 0 0.2497725"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_13"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_14">
+		<visual name="caster_yoke-149">
+			<origin xyz="-0.0065025 0 -0.6224959999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-150">
+			<origin xyz="-0.0065025 0 -0.6224959999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-150">
+			<origin xyz="-0.0065025 0 -0.6224959999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0065025 0 -0.6224959999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0065025 0 -0.6224959999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0065025 0 -0.6224959999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="0.0065025 0 0.6224959999999999"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_14"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_15">
+		<visual name="caster_yoke-145">
+			<origin xyz="-0.520084 0 -0.2480135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-146">
+			<origin xyz="-0.520084 0 -0.2480135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-146">
+			<origin xyz="-0.520084 0 -0.2480135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.520084 0 -0.2480135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.520084 0 -0.2480135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="0.520084 0 0.2480135"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_15"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_16">
+		<visual name="caster_yoke-141">
+			<origin xyz="-0.322635 0 0.356153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-142">
+			<origin xyz="-0.322635 0 0.356153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-142">
+			<origin xyz="-0.322635 0 0.356153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.322635 0 0.356153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.322635 0 0.356153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.322635 0 0.356153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="continuous">
+		<origin xyz="0.322635 0 -0.356153"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_16"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_10_helper"/>
+	<joint name="joint_17" type="prismatic">
+		<origin xyz="0.005577500000000001 0 0.0818125"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_10_helper"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.1120000000000001"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/39432/mobility_v2.json b/data/PartNet-Mobility/Chair/39432/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcedeaa39dd7e00d251cd01169d330458dafda48
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":12,"joint":"hinge","name":"wheel","parts":[{"id":159,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.08362162349077178,-0.773323,-0.11626714897601595],"direction":[0.8118346071406497,0,0.5838874640277759]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":12,"joint":"hinge","name":"wheel","parts":[{"id":160,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.08362162349077178,-0.773323,-0.11626714897601595],"direction":[0.8118346071406497,0,0.5838874640277759]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":13,"joint":"hinge","name":"wheel","parts":[{"id":155,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.08116105366099133,-0.773323,-0.11056907327472888],"direction":[-0.8061369857860847,0,0.5917289583480987]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":13,"joint":"hinge","name":"wheel","parts":[{"id":156,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.08116105366099133,-0.773323,-0.11056907327472888],"direction":[-0.8061369857860847,0,0.5917289583480987]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":14,"joint":"hinge","name":"wheel","parts":[{"id":151,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.21531610532380974,-0.7733094419388357,0.07109566572646701],"direction":[-0.3136109155063942,0.00002130859155745582,-0.9495515748084384]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":14,"joint":"hinge","name":"wheel","parts":[{"id":152,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.21531610532380974,-0.7733094419388357,0.07109566572646701],"direction":[-0.3136109155063942,0.00002130859155745582,-0.9495515748084384]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":15,"joint":"hinge","name":"wheel","parts":[{"id":147,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.0013830351664696058,-0.7733227964018106,0.2882047684319045],"direction":[-0.9999884859895921,0,0.004798738192862558]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":15,"joint":"hinge","name":"wheel","parts":[{"id":148,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.0013830351664696058,-0.7733227964018106,0.2882047684319045],"direction":[-0.9999884859895921,0,0.004798738192862558]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":16,"joint":"hinge","name":"wheel","parts":[{"id":143,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.22537515511380776,-0.7733263605818732,0.07202219064451804],"direction":[0.30442303380704805,0.000007230351066753595,-0.9525369370451915]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":16,"joint":"hinge","name":"wheel","parts":[{"id":144,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.22537515511380776,-0.7733263605818732,0.07202219064451804],"direction":[0.30442303380704805,0.000007230351066753595,-0.9525369370451915]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":11,"joint":"slider","name":"seat_hard_surface","parts":[{"id":200,"name":"seat_hard_surface","children":[]},{"id":197,"name":"back_hard_surface","children":[]},{"id":204,"name":"back_frame_vertical_bar","children":[]},{"id":205,"name":"back_frame_vertical_bar","children":[]},{"id":206,"name":"back_connector","children":[]},{"id":85,"name":"armrest_soft_surface","children":[]},{"id":86,"name":"arm_vertical_bar","children":[]},{"id":87,"name":"arm_connector","children":[]},{"id":82,"name":"armrest_soft_surface","children":[]},{"id":83,"name":"arm_vertical_bar","children":[]},{"id":84,"name":"arm_connector","children":[]},{"id":192,"name":"central_support","children":[]},{"id":198,"name":"seat_connector","children":[]}],"jointData":{"axis":{"origin":[0.005577500000000001,0,0.0818125],"direction":[0,-1,0]},"limit":{"a":0,"b":0.1120000000000001,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":11,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":190,"name":"central_support","children":[]},{"id":191,"name":"central_support","children":[]},{"id":131,"name":"leg","children":[]},{"id":132,"name":"leg","children":[]},{"id":133,"name":"leg","children":[]},{"id":134,"name":"leg","children":[]},{"id":135,"name":"leg","children":[]}],"jointData":{}},{"id":12,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":157,"name":"caster_yoke","children":[]},{"id":158,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.3129765,0,-0.35506550000000003],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":13,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":153,"name":"caster_yoke","children":[]},{"id":154,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.508357,0,0.2497725],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":14,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":149,"name":"caster_yoke","children":[]},{"id":150,"name":"caster_stem","children":[]}],"jointData":{"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\ No newline at end of file
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