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diff --git a/data/PartNet-Mobility/Chair/42001/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/42001/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..294d2cd4bbca2133dfbdb295fe790462cd51d84d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42001/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/42001/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d94d243c12f76d4de4b3349234c96ddd5ba8e684
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42001/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/42001/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2f79d7770af988fd6503887869bc4f7f6446cbec
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/42001/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/42001/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0228d1137ca3340decf3546946ba578042467457
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/42001/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/42001/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1e8ee84aeb4cf7fb348cecf6ab214b160e8b19b3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/42001/result.json b/data/PartNet-Mobility/Chair/42001/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..61292dff663e3824e95dbf675b48bac706fdd270
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-71"], "id": 49, "name": "back_soft_surface"}], "id": 47, "name": "back_surface"}, {"text": "Back Support", "objs": ["original-1"], "id": 48, "name": "back_support"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-73"], "id": 46, "name": "arm_holistic_frame"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-76"], "id": 45, "name": "arm_holistic_frame"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "lift (other)", "children": [{"text": "other_leaf", "objs": ["original-65", "original-66"], "id": 40, "name": "other_leaf"}], "id": 39, "name": "other"}, {"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-69"], "id": 44, "name": "seat_soft_surface"}], "id": 41, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-70"], "id": 42, "name": "seat_support"}, {"text": "Seat Support", "objs": ["original-68", "original-61"], "id": 43, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-62"], "id": 7, "name": "central_support"}, {"text": "Central Support", "objs": ["new-1"], "id": 8, "name": "central_support"}, {"text": "Central Support", "objs": ["original-60"], "id": 9, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-57"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-46"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-24"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-26"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["original-13"], "id": 15, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-6"], "id": 33, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-12"], "id": 34, "name": "wheel"}, {"text": "Wheel", "objs": ["original-11"], "id": 35, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-39"], "id": 30, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-44"], "id": 31, "name": "wheel"}, {"text": "Wheel", "objs": ["original-45"], "id": 32, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-50"], "id": 27, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-56"], "id": 28, "name": "wheel"}, {"text": "Wheel", "objs": ["original-55"], "id": 29, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-17"], "id": 24, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-22"], "id": 25, "name": "wheel"}, {"text": "Wheel", "objs": ["original-23"], "id": 26, "name": "wheel"}], "id": 19, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-29"], "id": 21, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-35"], "id": 22, "name": "wheel"}, {"text": "Wheel", "objs": ["original-34"], "id": 23, "name": "wheel"}], "id": 20, "name": "caster"}], "id": 10, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["new-0"], "id": 50, "name": "central_support"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42001/result_after_merging.json b/data/PartNet-Mobility/Chair/42001/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bef9b2aece69c3b880de126cc238b67e3128436
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"objs": ["original-71"], "ori_id": 49, "name": "back_single_surface", "text": "back_single_surface", "id": 3}], "objs": ["original-71"], "name": "back_surface", "ori_id": 47, "text": "back_surface", "id": 2}, {"objs": ["original-1"], "ori_id": 48, "name": "back_support", "text": "back_support", "id": 4}], "objs": ["original-71", "original-1"], "name": "chair_back", "ori_id": 1, "text": "chair_back", "id": 1}, {"children": [{"objs": ["original-73"], "ori_id": 46, "name": "arm_holistic_frame", "text": "arm_holistic_frame", "id": 6}], "objs": ["original-73"], "name": "chair_arm", "ori_id": 2, "text": "chair_arm", "id": 5}, {"children": [{"objs": ["original-76"], "ori_id": 45, "name": "arm_holistic_frame", "text": "arm_holistic_frame", "id": 8}], "objs": ["original-76"], "name": "chair_arm", "ori_id": 3, "text": "chair_arm", "id": 7}, {"children": [{"children": [{"objs": ["original-69"], "ori_id": 44, "name": "seat_single_surface", "text": 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"ori_id": 29, "name": "wheel", "text": "wheel", "id": 33}], "objs": ["original-50", "original-56", "original-55"], "name": "caster", "ori_id": 18, "text": "caster", "id": 31}, {"children": [{"objs": ["original-22"], "ori_id": 25, "name": "wheel", "text": "wheel", "id": 35}, {"objs": ["original-23"], "ori_id": 26, "name": "wheel", "text": "wheel", "id": 36}], "objs": ["original-17", "original-22", "original-23"], "name": "caster", "ori_id": 19, "text": "caster", "id": 34}, {"children": [{"objs": ["original-35"], "ori_id": 22, "name": "wheel", "text": "wheel", "id": 38}, {"objs": ["original-34"], "ori_id": 23, "name": "wheel", "text": "wheel", "id": 39}], "objs": ["original-29", "original-35", "original-34"], "name": "caster", "ori_id": 20, "text": "caster", "id": 37}], "objs": ["original-57", "original-46", "original-24", "original-26", "original-13", "original-6", "original-12", "original-11", "original-39", "original-44", "original-45", "original-50", "original-56", "original-55", 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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42001/semantics.txt b/data/PartNet-Mobility/Chair/42001/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9d113ded1a0433c6292f13ff71fe03e95bdc9e21
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/semantics.txt
@@ -0,0 +1,18 @@
+link_0 hinge lever
+link_1 hinge caster
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge caster
+link_5 hinge wheel
+link_6 hinge wheel
+link_7 hinge caster
+link_8 hinge wheel
+link_9 hinge wheel
+link_10 hinge caster
+link_11 hinge wheel
+link_12 hinge wheel
+link_13 hinge caster
+link_14 hinge wheel
+link_15 hinge wheel
+link_16 slider+ seat
+link_17 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2f4e43703737856891272fe9f66028d863535291
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/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/42001/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eccf6fbda8973f5aa8ec9a8a89cee4d9ee21a1c
--- /dev/null
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@@ -0,0 +1,323 @@
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2f4e43703737856891272fe9f66028d863535291
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/new-1.mtl
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1065f3d2c4226b6da9f99dea8758a78384641d3
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-1.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-1.mtl
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-1.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0da7b569d79a4b10788ad6292c4e522cfc9ca17
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-1.obj
@@ -0,0 +1,17405 @@
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb1506eee976eaff9b6bf1a6b65c38d87febcf1b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-11.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b59b3e96d5bb089d295b6b029c3e0b1d741e50a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-12.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc3315f2d9fba85d1574ff9a18b22e80eca36232
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c0b7e053d19eaad77cf4fab11719daa35161779
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-17.obj
@@ -0,0 +1,4231 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43b83570e54a0490cadd3b450999227d0f389621
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-22.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o Group13/mesh15/mesh15-geometry#mesh15-geometry
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27766ed70433a81829068742167e9dcde70195f5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-23.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-24.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/42001/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f010ec3b2f47234fa14082200ed6845664e37c5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-26.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/42001/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62a2ad2985393adf8796543255c8b2426e78560d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-26.obj
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b963e6bf1cb2065fa27c56b7443be23cd2d61151
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-29.obj
@@ -0,0 +1,4231 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-34.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aac4d47a3e202043c8b9a80119f655ec663999d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-34.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 34
+mtllib original-34.mtl
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-35.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f1d38735acee93029761348f5104320fda5302e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-35.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 35
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-39.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d318f1cd5b1313cde1f7fc7d78b41c396c44cc51
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-39.obj
@@ -0,0 +1,4229 @@
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-44.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-44.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af45dd42c4220c5c121fe6eed10a9b5f5d50fe47
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-44.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 44
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-45.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-45.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..358bb000397a7c882a5e6471a56d088a625b1d4d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-45.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-46.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-46.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-46.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef227a665bfa63bcc1d2ee287bb214a4f3df0f0c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-46.obj
@@ -0,0 +1,753 @@
+# SSTK version 0.8.0
+# 46
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-50.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-50.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-50.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b17cec0bb33395479828dd23d397e9c58cdf8814
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-50.obj
@@ -0,0 +1,4231 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-55.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-55.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-55.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d443d9dc7fa9754d310aac4fdb89cbbe09763a7e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-55.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 55
+mtllib original-55.mtl
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-56.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-56.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-56.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cb84f069d725f055c6301c38dc0803d8bf91295
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-56.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-57.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-57.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-57.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..492df216b00ea01b3e42860bba740d83acc0638b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-57.obj
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f18c81d6e939fb07937dc6e34a41e2d2326ab97
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-6.obj
@@ -0,0 +1,4229 @@
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-60.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-60.mtl
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-60.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa0a20840e8671392ccfea0094f93896904902a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-60.obj
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-61.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-61.mtl
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-61.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..678590904866389a61de7b78874dd80749570e37
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-61.obj
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-62.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-62.mtl
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-62.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e80f9e808cdaf6777277f29b4729c63b24198bfb
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-65.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-65.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-65.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cf4fff00ca0012030f2f3bcb55a2f7539935ec6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-65.obj
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-66.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-66.mtl
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-66.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54183927a8af911e67797b49863a5326aa86c376
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-68.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..812267ebcd5b7959c57911ca6ab63a2d0e7a4f65
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-69.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-69.mtl
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-69.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f169601cb5b03a259f87fccca1593ed3fd13528d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-70.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-70.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-70.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c38aa52ba047c093211bfa6881906ddb68151795
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-70.obj
@@ -0,0 +1,11814 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-71.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-71.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-71.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc24948a88989a4310a73fd404ac9185cd77c4bd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-71.obj
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-73.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-73.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-73.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e5a98c18ae393dd79a646b2882ff789c7a16c60
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-73.obj
@@ -0,0 +1,49300 @@
+# SSTK version 0.8.0
+# 73
+mtllib original-73.mtl
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diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-76.mtl b/data/PartNet-Mobility/Chair/42001/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-76.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42001/textured_objs/original-76.obj b/data/PartNet-Mobility/Chair/42001/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db89fe27797186e3c882dcf2687cf8f2711320c4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/textured_objs/original-76.obj
@@ -0,0 +1,49300 @@
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diff --git a/data/PartNet-Mobility/Chair/42001/tree_hier.html b/data/PartNet-Mobility/Chair/42001/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..15c674618b17406914fed53f2642c9b3475e46cf
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+++ b/data/PartNet-Mobility/Chair/42001/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_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></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>47 back_surface Back 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><p>48 back_support Back Support</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>46 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>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>39 other lift (other)</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>41 seat_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><p>42 seat_support Seat Support</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 seat_support Seat Support</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>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>49 back_soft_surface Back Soft Surface</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>40 other_leaf other_leaf</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>44 seat_soft_surface Seat Soft Surface</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>7 central_support Central Support</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 central_support Central Support</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 central_support Central Support</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 star_leg_set Star-shape Leg Set</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>50 central_support Central Support</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 leg Leg</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><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></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><p>33 caster_yoke Caster Yoke</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 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_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><p>31 wheel Wheel</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel Wheel</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>27 caster_yoke Caster Yoke</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 wheel Wheel</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></td><td><p>24 caster_yoke Caster Yoke</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel Wheel</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><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>21 caster_yoke Caster Yoke</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 wheel Wheel</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 wheel Wheel</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42001/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/42001/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..309c0bcc6706cb4a7b4e5fbc07eef909a7f96956
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42001/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_arm chair_arm</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td><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><p>9 chair_seat chair_seat</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></td><td></td><td></td><td></td><td><p>14 chair_base chair_base</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><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_support back_support</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 arm_holistic_frame arm_holistic_frame</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_holistic_frame arm_holistic_frame</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><p>10 seat_surface seat_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><p>12 seat_support seat_support</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 seat_support seat_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></td><td><p>15 star_leg_base star_leg_base</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><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><p>11 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 central_support central_support</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 central_support central_support</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 central_support central_support</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 star_leg_set star_leg_set</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>20 leg leg</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 leg leg</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 leg leg</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 leg leg</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 leg leg</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 caster caster</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></td><td></td><td><p>28 caster caster</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>31 caster caster</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>34 caster caster</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>37 caster caster</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>26 wheel wheel</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 wheel wheel</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 wheel wheel</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 wheel wheel</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>32 wheel wheel</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel wheel</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>35 wheel wheel</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 wheel wheel</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>38 wheel wheel</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 wheel wheel</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42057/bounding_box.json b/data/PartNet-Mobility/Chair/42057/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bab027971a2647790e4bc3c5d2dc3a23aac9432
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.538748, -0.723661, -0.363292], "max": [0.512564, 0.940904, 0.576967]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42057/meta.json b/data/PartNet-Mobility/Chair/42057/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8d2190f0141dd982f0bb90424f44ec39058073e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/meta.json
@@ -0,0 +1 @@
+{"model_id": "b2ded1854643f1451c1b3b2ed8d13bf8", "anno_id": "42057", "user_id": "shape07", "time_in_sec": "375", "version": "5", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42057/mobility.urdf b/data/PartNet-Mobility/Chair/42057/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5ed4bafc2ae5c4ba0ca293e5d0fb651ad4006e37
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/mobility.urdf
@@ -0,0 +1,524 @@
+<?xml version="1.0" ?>
+<robot name="partnet_b2ded1854643f1451c1b3b2ed8d13bf8">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever-78">
+			<origin xyz="0.009379499999999999 -0.04434403474346025 -0.07685957652129263"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.009379499999999999 -0.04434403474346025 -0.07685957652129263"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.003184374179189377 0.04433649803586482 0.008360665013775609"/>
+		<axis xyz="0 0.8661759787973796 -0.4997391056885599"/>
+		<child link="link_0"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_1">
+		<visual name="knob-79">
+			<origin xyz="0.07097781614400445 0.10358128550079351 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-79">
+			<origin xyz="0.07097781614400445 0.10358128550079351 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.07097781614400445 0.10358128550079351 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.07097781614400445 0.10358128550079351 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.05841394196481507 -0.10358882220838894 -0.06849891150751702"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_17"/>
+		<limit lower="0.0" upper="0.3078760800517997"/>
+	</joint>
+	<link name="link_2">
+		<visual name="caster_yoke-75">
+			<origin xyz="0.28920538646173566 0 0.3143291370105821"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.28920538646173566 0 0.3143291370105821"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.28920538646173566 0 -0.3143291370105821"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_2"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-76">
+			<origin xyz="0.38767026462992515 0.6831421442109928 0.1409283850957446"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.38767026462992515 0.6831421442109928 0.1409283850957446"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.0984648781681895 -0.6831421442109928 0.17340075191483753"/>
+		<axis xyz="0.3419157133273024 -0.00016956663951024655 -0.9397306083272146"/>
+		<child link="link_3"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-77">
+			<origin xyz="0.38767026462992515 0.6831421442109928 0.1409283850957446"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.38767026462992515 0.6831421442109928 0.1409283850957446"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.0984648781681895 -0.6831421442109928 0.17340075191483753"/>
+		<axis xyz="0.3419157133273024 -0.00016956663951024655 -0.9397306083272146"/>
+		<child link="link_4"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_5">
+		<visual name="caster_yoke-72">
+			<origin xyz="-0.26689581629765 0 0.3139228940210129"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.26689581629765 0 0.3139228940210129"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.26689581629765 0 -0.3139228940210129"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_5"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-73">
+			<origin xyz="0.051943126987250524 0.6846825211885038 0.09145156804371606"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.051943126987250524 0.6846825211885038 0.09145156804371606"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.31883894328490053 -0.6846825211885038 0.22247132597729685"/>
+		<axis xyz="0.8660059183935536 0.0010891249927383697 -0.5000325620538006"/>
+		<child link="link_6"/>
+		<parent link="link_5"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-74">
+			<origin xyz="0.051943126987250524 0.6846825211885038 0.09145156804371606"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.051943126987250524 0.6846825211885038 0.09145156804371606"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.31883894328490053 -0.6846825211885038 0.22247132597729685"/>
+		<axis xyz="0.8660059183935536 0.0010891249927383697 -0.5000325620538006"/>
+		<child link="link_7"/>
+		<parent link="link_5"/>
+	</joint>
+	<link name="link_8">
+		<visual name="caster_yoke-69">
+			<origin xyz="-0.4336605 0 -0.2165085"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4336605 0 -0.2165085"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.4336605 0 0.2165085"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_8"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-70">
+			<origin xyz="-0.26054337877429673 0.6833217993567731 0.1498097867264274"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.26054337877429673 0.6833217993567731 0.1498097867264274"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.17311712122570327 -0.6833217993567731 -0.3663182867264274"/>
+		<axis xyz="0.5000117770222188 0.0007854912689867677 0.8660182479847347"/>
+		<child link="link_9"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel-71">
+			<origin xyz="-0.26054337877429673 0.6833217993567731 0.1498097867264274"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.26054337877429673 0.6833217993567731 0.1498097867264274"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.17311712122570327 -0.6833217993567731 -0.3663182867264274"/>
+		<axis xyz="0.5000117770222188 0.0007854912689867677 0.8660182479847347"/>
+		<child link="link_10"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_11">
+		<visual name="caster_yoke-66">
+			<origin xyz="0.014826396417153513 0 -0.541928679554878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.014826396417153513 0 -0.541928679554878"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="-0.014826396417153513 0 0.541928679554878"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_11"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_12">
+		<visual name="wheel-67">
+			<origin xyz="0.04806699999999999 0.6832769999999999 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.04806699999999999 0.6832769999999999 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="-0.03324060358284648 -0.6832769999999999 -0.541928679554878"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_12"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_13">
+		<visual name="wheel-68">
+			<origin xyz="0.04806699999999999 0.6832769999999999 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.04806699999999999 0.6832769999999999 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="-0.03324060358284648 -0.6832769999999999 -0.541928679554878"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_13"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_14">
+		<visual name="caster_yoke-63">
+			<origin xyz="0.4614772527934141 0 -0.2150807470231364"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4614772527934141 0 -0.2150807470231364"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="-0.4614772527934141 0 0.2150807470231364"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_14"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_15">
+		<visual name="wheel-64">
+			<origin xyz="0.49471800000000005 0.6819129066136872 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.49471800000000005 0.6819129066136872 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="-0.03324074720658593 -0.6819129066136872 -0.2150807470231364"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_15"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_16">
+		<visual name="wheel-65">
+			<origin xyz="0.49471800000000005 0.6819129066136872 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.49471800000000005 0.6819129066136872 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="continuous">
+		<origin xyz="-0.03324074720658593 -0.6819129066136872 -0.2150807470231364"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_16"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_17">
+		<visual name="back_soft_surface-47">
+			<origin xyz="0.012563874179189376 -7.5367075954317334e-06 -0.06849891150751702"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-43">
+			<origin xyz="0.012563874179189376 -7.5367075954317334e-06 -0.06849891150751702"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-48">
+			<origin xyz="0.012563874179189376 -7.5367075954317334e-06 -0.06849891150751702"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-80">
+			<origin xyz="0.012563874179189376 -7.5367075954317334e-06 -0.06849891150751702"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.012563874179189376 -7.5367075954317334e-06 -0.06849891150751702"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.012563874179189376 -7.5367075954317334e-06 -0.06849891150751702"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.012563874179189376 -7.5367075954317334e-06 -0.06849891150751702"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.012563874179189376 -7.5367075954317334e-06 -0.06849891150751702"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="continuous">
+		<origin xyz="0.0 0.0 0.0"/>
+		<axis xyz="9.228689218069689e-05 -0.9999999876829472 0.00012695367444947607"/>
+		<child link="link_17"/>
+		<parent link="link_17_helper"/>
+	</joint>
+	<link name="link_18">
+		<visual name="central_support-49">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-50">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-50">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-53">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-54">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-55">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-56">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-57">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.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-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_18"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_17_helper"/>
+	<joint name="joint_19" type="prismatic">
+		<origin xyz="-0.012563874179189376 7.5367075954317334e-06 0.06849891150751702"/>
+		<axis xyz="9.228689218069689e-05 -0.9999999876829472 0.00012695367444947607"/>
+		<child link="link_17_helper"/>
+		<parent link="link_18"/>
+		<limit lower="0" upper="0.1200000000000001"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/42057/mobility_v2.json b/data/PartNet-Mobility/Chair/42057/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..efb22d879f10b89d3509c88e974658eb7e70f00d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":17,"joint":"hinge","name":"knob","parts":[{"id":78,"name":"lever"}],"jointData":{"axis":{"origin":[-0.009379499999999999,0.04434403474346025,0.07685957652129263],"direction":[0,0.8661759787973796,-0.4997391056885599]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":17,"joint":"hinge","name":"lever","parts":[{"id":79,"name":"knob"}],"jointData":{"axis":{"origin":[-0.07097781614400445,-0.10358128550079351,0],"direction":[0,0,1]},"limit":{"a":0,"b":17.64,"noLimit":false}}},{"id":2,"parent":18,"joint":"hinge","name":"caster_yoke","parts":[{"id":75,"name":"caster_yoke"}],"jointData":{"axis":{"origin":[-0.28920538646173566,0,-0.3143291370105821],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":2,"joint":"hinge","name":"wheel","parts":[{"id":76,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.38767026462992515,-0.6831421442109928,-0.1409283850957446],"direction":[0.3419157133273024,-0.00016956663951024655,-0.9397306083272146]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":2,"joint":"hinge","name":"wheel","parts":[{"id":77,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.38767026462992515,-0.6831421442109928,-0.1409283850957446],"direction":[0.3419157133273024,-0.00016956663951024655,-0.9397306083272146]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":18,"joint":"hinge","name":"caster_yoke","parts":[{"id":72,"name":"caster_yoke"}],"jointData":{"axis":{"origin":[0.26689581629765,0,-0.3139228940210129],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":5,"joint":"hinge","name":"wheel","parts":[{"id":73,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.051943126987250524,-0.6846825211885038,-0.09145156804371606],"direction":[0.8660059183935536,0.0010891249927383697,-0.5000325620538006]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":5,"joint":"hinge","name":"wheel","parts":[{"id":74,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.051943126987250524,-0.6846825211885038,-0.09145156804371606],"direction":[0.8660059183935536,0.0010891249927383697,-0.5000325620538006]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":18,"joint":"hinge","name":"caster_yoke","parts":[{"id":69,"name":"caster_yoke"}],"jointData":{"axis":{"origin":[0.4336605,0,0.2165085],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":70,"name":"wheel"}],"jointData":{"axis":{"origin":[0.26054337877429673,-0.6833217993567731,-0.1498097867264274],"direction":[0.5000117770222188,0.0007854912689867677,0.8660182479847347]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":71,"name":"wheel"}],"jointData":{"axis":{"origin":[0.26054337877429673,-0.6833217993567731,-0.1498097867264274],"direction":[0.5000117770222188,0.0007854912689867677,0.8660182479847347]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":18,"joint":"hinge","name":"caster_yoke","parts":[{"id":66,"name":"caster_yoke"}],"jointData":{"axis":{"origin":[-0.014826396417153513,0,0.541928679554878],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":11,"joint":"hinge","name":"wheel","parts":[{"id":67,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.04806699999999999,-0.6832769999999999,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":13,"parent":11,"joint":"hinge","name":"wheel","parts":[{"id":68,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.04806699999999999,-0.6832769999999999,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":14,"parent":18,"joint":"hinge","name":"caster_yoke","parts":[{"id":63,"name":"caster_yoke"}],"jointData":{"axis":{"origin":[-0.4614772527934141,0,0.2150807470231364],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":15,"parent":14,"joint":"hinge","name":"wheel","parts":[{"id":64,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.49471800000000005,-0.6819129066136872,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":16,"parent":14,"joint":"hinge","name":"wheel","parts":[{"id":65,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.49471800000000005,-0.6819129066136872,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":17,"parent":18,"joint":"slider","name":"back_soft_surface","parts":[{"id":47,"name":"back_soft_surface"},{"id":43,"name":"seat_soft_surface"},{"id":48,"name":"central_support"},{"id":80,"name":"mounting_plate"}],"jointData":{"axis":{"origin":[-0.012563874179189376,0.0000075367075954317334,0.06849891150751702],"direction":[0.00009228689218069689,-0.9999999876829472,0.00012695367444947607]},"limit":{"a":0,"b":0.1200000000000001,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":18,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":49,"name":"central_support"},{"id":50,"name":"central_support"},{"id":53,"name":"leg"},{"id":54,"name":"leg"},{"id":55,"name":"leg"},{"id":56,"name":"leg"},{"id":57,"name":"leg"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42057/parts_render/0.png b/data/PartNet-Mobility/Chair/42057/parts_render/0.png
new file mode 100644
index 0000000000000000000000000000000000000000..55670296d21ae03d0f5720dbaf2b3dd19c9a5315
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b245b0ab2613e0a1a79109d57226a6f4b500e712ec5d4299c247f84e3b10263
+size 26237
diff --git a/data/PartNet-Mobility/Chair/42057/parts_render/0.txt b/data/PartNet-Mobility/Chair/42057/parts_render/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f189a29b5afe78bc8488f7a211443c5bf04a8e1c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/parts_render/0.txt
@@ -0,0 +1 @@
+0 chair Sitting Furniture
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42057/parts_render/42.png b/data/PartNet-Mobility/Chair/42057/parts_render/42.png
new file mode 100644
index 0000000000000000000000000000000000000000..85219bce3266ca39d4381c61a0ffff753e850e90
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/parts_render/42.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64dbd403df1a8289fc02cf4ef37a76b071cbc85c828fd6f12cbd75cdc3d16105
+size 20829
diff --git a/data/PartNet-Mobility/Chair/42057/parts_render/42.txt b/data/PartNet-Mobility/Chair/42057/parts_render/42.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e7429b195fb12edd5b97d51205976f5da724bf69
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/parts_render/42.txt
@@ -0,0 +1 @@
+42 seat_surface Seat Surface
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42057/parts_render/43.png b/data/PartNet-Mobility/Chair/42057/parts_render/43.png
new file mode 100644
index 0000000000000000000000000000000000000000..85219bce3266ca39d4381c61a0ffff753e850e90
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/parts_render/43.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64dbd403df1a8289fc02cf4ef37a76b071cbc85c828fd6f12cbd75cdc3d16105
+size 20829
diff --git a/data/PartNet-Mobility/Chair/42057/parts_render/43.txt b/data/PartNet-Mobility/Chair/42057/parts_render/43.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f9cdf30446081ad30339ee2a88017208412a0a46
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/parts_render/43.txt
@@ -0,0 +1 @@
+43 seat_soft_surface Seat Soft Surface
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42057/parts_render/46.png b/data/PartNet-Mobility/Chair/42057/parts_render/46.png
new file mode 100644
index 0000000000000000000000000000000000000000..77f7f2cd60eaeead11d05728769d4214bff1885c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/parts_render/46.png
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diff --git a/data/PartNet-Mobility/Chair/42057/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/42057/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4c1334682c9499cd8a9b981cc0a33c4bc83ea972
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42057/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/42057/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..2b97ec0002cd4332a0bd11ce3a96cd1ee6f90942
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42057/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/42057/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60eddb6a342fa3bd2bcb4149263774b9b9efc378
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42057/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/42057/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c7f26c6886921bde686d4a3d18f53fbec1ad3509
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/point_sample/sample-points-all-label-10000.txt
@@ -0,0 +1,10000 @@
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diff --git a/data/PartNet-Mobility/Chair/42057/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/42057/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d64137b19ceb407b0c7ebe21c222c059f143e747
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42057/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/42057/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f237a7b0ccfcd33dc72c0510cced534d8770ad0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/42057/result.json b/data/PartNet-Mobility/Chair/42057/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0386841d25acc7cd35d1d66754a0ac2fba105d12
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-33"], "id": 47, "name": "back_soft_surface"}], "id": 46, "name": "back_surface"}], "id": 6, "name": "chair_back"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-32"], "id": 43, "name": "seat_soft_surface"}], "id": 42, "name": "seat_surface"}], "id": 7, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["new-9"], "id": 48, "name": "central_support"}, {"text": "Central Support", "objs": ["new-10"], "id": 49, "name": "central_support"}, {"text": "Central Support", "objs": ["new-5", "new-11"], "id": 50, "name": "central_support"}, {"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["new-7"], "id": 78, "name": "lever"}, {"text": "Knob", "objs": ["new-6", "original-30"], "id": 79, "name": "knob"}, {"text": "Mounting Plane", "objs": ["new-8"], "id": 80, "name": "mounting_plate"}], "id": 51, "name": "mechanical_control"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["new-4"], "id": 53, "name": "leg"}, {"text": "Leg", "objs": ["new-0"], "id": 54, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 55, "name": "leg"}, {"text": "Leg", "objs": ["new-2"], "id": 56, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 57, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-6"], "id": 75, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-7"], "id": 76, "name": "wheel"}, {"text": "Wheel", "objs": ["original-8"], "id": 77, "name": "wheel"}], "id": 58, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-10"], "id": 72, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-12"], "id": 73, "name": "wheel"}, {"text": "Wheel", "objs": ["original-11"], "id": 74, "name": "wheel"}], "id": 59, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-14"], "id": 69, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-15"], "id": 70, "name": "wheel"}, {"text": "Wheel", "objs": ["original-16"], "id": 71, "name": "wheel"}], "id": 60, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-18"], "id": 66, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-19"], "id": 67, "name": "wheel"}, {"text": "Wheel", "objs": ["original-20"], "id": 68, "name": "wheel"}], "id": 61, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-2"], "id": 63, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-3"], "id": 64, "name": "wheel"}, {"text": "Wheel", "objs": ["original-4"], "id": 65, "name": "wheel"}], "id": 62, "name": "caster"}], "id": 52, "name": "star_leg_set"}], "id": 9, "name": "star_leg_base"}], "id": 8, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42057/result_after_merging.json b/data/PartNet-Mobility/Chair/42057/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..7311299d6979fcaaf04438add911d775764f1cdf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"objs": ["original-33"], "ori_id": 47, "text": "back_single_surface", "id": 3, "name": "back_single_surface"}], "ori_id": 46, "name": "back_surface", "objs": ["original-33"], "text": "back_surface", "id": 2}], "ori_id": 6, "name": "chair_back", "objs": ["original-33"], "text": "chair_back", "id": 1}, {"children": [{"children": [{"objs": ["original-32"], "ori_id": 43, "text": "seat_single_surface", "id": 6, "name": "seat_single_surface"}], "ori_id": 42, "name": "seat_surface", "objs": ["original-32"], "text": "seat_surface", "id": 5}], "ori_id": 7, "name": "chair_seat", "objs": ["original-32"], "text": "chair_seat", "id": 4}, {"children": [{"children": [{"objs": ["new-9"], "ori_id": 48, "text": "central_support", "id": 9, "name": "central_support"}, {"objs": ["new-10"], "ori_id": 49, "text": "central_support", "id": 10, "name": "central_support"}, {"objs": ["new-5", "new-11"], "ori_id": 50, "text": "central_support", "id": 11, "name": "central_support"}, {"children": [{"objs": ["new-7"], "ori_id": 78, "text": "lever", "id": 13, "name": "lever"}, {"objs": ["new-6", "original-30"], "ori_id": 79, "text": "knob", "id": 14, "name": "knob"}], "ori_id": 51, "name": "mechanical_control", "objs": ["new-7", "new-6", "original-30", "new-8"], "text": "mechanical_control", "id": 12}, {"children": [{"objs": ["new-4"], "ori_id": 53, "text": "leg", "id": 16, "name": "leg"}, {"objs": ["new-0"], "ori_id": 54, "text": "leg", "id": 17, "name": "leg"}, {"objs": ["new-1"], "ori_id": 55, "text": "leg", "id": 18, "name": "leg"}, {"objs": ["new-2"], "ori_id": 56, "text": "leg", "id": 19, "name": "leg"}, {"objs": ["new-3"], "ori_id": 57, "text": "leg", "id": 20, "name": "leg"}, {"children": [{"objs": ["original-7"], "ori_id": 76, "text": "wheel", "id": 22, "name": "wheel"}, {"objs": ["original-8"], "ori_id": 77, "text": "wheel", "id": 23, "name": "wheel"}], "ori_id": 58, "name": "caster", "objs": ["original-6", "original-7", "original-8"], "text": "caster", "id": 21}, {"children": [{"objs": ["original-12"], "ori_id": 73, "text": "wheel", "id": 25, "name": "wheel"}, {"objs": ["original-11"], "ori_id": 74, "text": "wheel", "id": 26, "name": "wheel"}], "ori_id": 59, "name": "caster", "objs": ["original-10", "original-12", "original-11"], "text": "caster", "id": 24}, {"children": [{"objs": ["original-15"], "ori_id": 70, "text": "wheel", "id": 28, "name": "wheel"}, {"objs": ["original-16"], "ori_id": 71, "text": "wheel", "id": 29, "name": "wheel"}], "ori_id": 60, "name": "caster", "objs": ["original-14", "original-15", "original-16"], "text": "caster", "id": 27}, {"children": [{"objs": ["original-19"], "ori_id": 67, "text": "wheel", "id": 31, "name": "wheel"}, {"objs": ["original-20"], "ori_id": 68, "text": "wheel", "id": 32, "name": "wheel"}], "ori_id": 61, "name": "caster", "objs": ["original-18", "original-19", "original-20"], "text": "caster", "id": 30}, {"children": [{"objs": ["original-3"], "ori_id": 64, "text": "wheel", "id": 34, "name": "wheel"}, {"objs": ["original-4"], "ori_id": 65, "text": "wheel", "id": 35, "name": "wheel"}], "ori_id": 62, "name": "caster", "objs": ["original-2", "original-3", "original-4"], "text": "caster", "id": 33}], "ori_id": 52, "name": "star_leg_set", "objs": ["new-4", "new-0", "new-1", "new-2", "new-3", "original-6", "original-7", "original-8", "original-10", "original-12", "original-11", "original-14", "original-15", "original-16", "original-18", "original-19", "original-20", "original-2", "original-3", "original-4"], "text": "star_leg_set", "id": 15}], "ori_id": 9, "name": "star_leg_base", "objs": ["new-9", "new-10", "new-5", "new-11", "new-7", "new-6", "original-30", "new-8", "new-4", "new-0", "new-1", "new-2", "new-3", "original-6", "original-7", "original-8", "original-10", "original-12", "original-11", "original-14", "original-15", "original-16", "original-18", "original-19", "original-20", "original-2", "original-3", "original-4"], "text": "star_leg_base", "id": 8}], "ori_id": 8, "name": "chair_base", "objs": ["new-9", "new-10", "new-5", "new-11", "new-7", "new-6", "original-30", "new-8", "new-4", "new-0", "new-1", "new-2", "new-3", "original-6", "original-7", "original-8", "original-10", "original-12", "original-11", "original-14", "original-15", "original-16", "original-18", "original-19", "original-20", "original-2", "original-3", "original-4"], "text": "chair_base", "id": 7}], "ori_id": 0, "name": "chair", "objs": ["original-33", "original-32", "new-9", "new-10", "new-5", "new-11", "new-7", "new-6", "original-30", "new-8", "new-4", "new-0", "new-1", "new-2", "new-3", "original-6", "original-7", "original-8", "original-10", "original-12", "original-11", "original-14", "original-15", "original-16", "original-18", "original-19", "original-20", "original-2", "original-3", "original-4"], "text": "chair", "id": 0}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42057/semantics.txt b/data/PartNet-Mobility/Chair/42057/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aea57b32f7407f361aedf1b61a475cf03f922e00
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/semantics.txt
@@ -0,0 +1,19 @@
+link_0 hinge knob
+link_1 hinge lever
+link_2 hinge caster
+link_3 hinge wheel
+link_4 hinge wheel
+link_5 hinge caster
+link_6 hinge wheel
+link_7 hinge wheel
+link_8 hinge caster
+link_9 hinge wheel
+link_10 hinge wheel
+link_11 hinge caster
+link_12 hinge wheel
+link_13 hinge wheel
+link_14 hinge caster
+link_15 hinge wheel
+link_16 hinge wheel
+link_17 slider+ seat
+link_18 free chair_leg
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new file mode 100644
index 0000000000000000000000000000000000000000..37678320378913209d33921e7774cf243720bfc7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/new-0.mtl
@@ -0,0 +1,24 @@
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4b7a4e0148717d4f78e8bf2b51d4b6fba1e5b65
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..37678320378913209d33921e7774cf243720bfc7
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@@ -0,0 +1,24 @@
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da41eeff09f05abc10234542287c66540237c55f
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-10.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/new-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..37678320378913209d33921e7774cf243720bfc7
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-10.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/new-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93155510f41d2090196158fb8b9b184bcb1410c1
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-11.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/new-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..37678320378913209d33921e7774cf243720bfc7
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-11.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/new-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6f6e619bcb2f049ff92815640bed20583360451
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..37678320378913209d33921e7774cf243720bfc7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/new-2.mtl
@@ -0,0 +1,24 @@
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..666fc02a21844bf69c46e7ede7c156a9747c3375
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/new-2.obj
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/new-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..37678320378913209d33921e7774cf243720bfc7
--- /dev/null
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@@ -0,0 +1,24 @@
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0a534cacc8e18e1877cc481cb88faaee5897395
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/new-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..37678320378913209d33921e7774cf243720bfc7
--- /dev/null
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@@ -0,0 +1,24 @@
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a98c83bb7205adfe66d9d62181e0be2216076f56
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-5.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/new-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..37678320378913209d33921e7774cf243720bfc7
--- /dev/null
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@@ -0,0 +1,24 @@
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-5.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/new-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..730aebd7bd28dac9c7106aa573045dc704c09e80
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-6.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/new-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1b2b7220b6d5a881a2a8d2c4dfe6821730987e50
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-6.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/new-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c63ca93760988d34157ceb4c1418b1e420b3ec7
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-8.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/new-8.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-9.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/new-9.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/new-9.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/new-9.obj
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6fe38ce66de31a6c9ce63ddf089e485450bf975
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05542c966a13d277a05ede69e2757637b9e5c577
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..837fad7e5c2a62250eea625abb4a3a02b428be95
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-11.obj
@@ -0,0 +1,4813 @@
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4446321ef35737fd1dc69e6d74cce7f5f4f82b1a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-12.obj
@@ -0,0 +1,4813 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o mesh3/mesh3-geometry#mesh3-geometry
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6fe38ce66de31a6c9ce63ddf089e485450bf975
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-14.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+
diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58d42358022c2d5d7a1ba2e85e4a89cd1d4cb0dc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cc82b05c5f680d8c95cbcf651bb6e3c638e7657
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-15.obj
@@ -0,0 +1,4813 @@
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60e6b2fa7c38400e539a40a94c1adcb7d4ae0611
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-16.obj
@@ -0,0 +1,4813 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6fe38ce66de31a6c9ce63ddf089e485450bf975
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-18.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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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/42057/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d75f5e49f63330157483cd072d3c582af5ef8c4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-18.obj
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04254e6e8306047f0d481cda6bffcaeb29562e91
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6fe38ce66de31a6c9ce63ddf089e485450bf975
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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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/42057/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b615b4db72770e0c6ea8a0c55956d58524777da
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-2.obj
@@ -0,0 +1,1129 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98bf9ebc8863dedfc7cc4f5cf6a25f93f32c4fa2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-20.obj
@@ -0,0 +1,4813 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4a93417cefcf3a071080ed0e85d49d113449fae
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-3.obj
@@ -0,0 +1,4813 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb07e1b45a0d7c81d4bcb5dd8e0f9e498ecfc82a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.11372549019607843 0.11372549019607843 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc589917b2fe3ba55cb72def3c6b328e8234864a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-30.obj
@@ -0,0 +1,863 @@
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4308eb240405e79d55672bf49f3e675747f87317
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-32.mtl
@@ -0,0 +1,35 @@
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..193a99c0f15616a025a9060da60f30a65fc7296f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cec5c3ee41ba0ebe75a5a73f909346ab3d3db9d9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-33.mtl
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b25f00f273b5281377b74dbb7d1b0024b830e3a4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-33.obj
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8df88b368a34534c20c15bc712676c76e3d629a8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-4.obj
@@ -0,0 +1,4813 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6fe38ce66de31a6c9ce63ddf089e485450bf975
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-6.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
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+
diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87d2bd790744b4f1e88933b0451cad49f177534a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f647f787929ace41b2ac33e6e7932d896593cfde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/42057/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42057/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/42057/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7176a97f9b6953261d4d736a668a21b37db1d5ef
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/textured_objs/original-8.obj
@@ -0,0 +1,4813 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o mesh3/mesh3-geometry#mesh3-geometry
+v -0.314804 -0.689115 -0.323814
+v -0.319076 -0.685590 -0.325369
+v -0.325971 -0.689115 -0.327878
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diff --git a/data/PartNet-Mobility/Chair/42057/tree_hier.html b/data/PartNet-Mobility/Chair/42057/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..3afc4ecda54053221d928443108cdf0b4ac2bc9f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/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>6 chair_back Chair Back</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>7 chair_seat Chair Seat</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>8 chair_base Chair Base</p><a href="parts_render/8.png"><img src="parts_render/8.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>42 seat_surface Seat Surface</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>9 star_leg_base Star-shape Leg Base</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td></tr><tr><td><p>47 back_soft_surface Back Soft 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><p>43 seat_soft_surface Seat Soft 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>48 central_support Central Support</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 central_support Central Support</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 central_support Central Support</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 mechanical_control Mechanical Control</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>52 star_leg_set Star-shape Leg Set</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>78 lever Lever</p><a href="parts_render/78.png"><img src="parts_render/78.png" width="100px" height="100px"/></a></td><td></td><td><p>79 knob Knob</p><a href="parts_render/79.png"><img src="parts_render/79.png" width="100px" height="100px"/></a></td><td></td><td><p>80 mounting_plate Mounting Plane</p><a href="parts_render/80.png"><img src="parts_render/80.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>53 leg Leg</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 leg Leg</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 leg Leg</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 leg Leg</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 leg Leg</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 caster Wheel Assembly</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>59 caster Wheel Assembly</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>60 caster Wheel Assembly</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></td><td></td><td></td><td><p>61 caster Wheel Assembly</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><p>62 caster Wheel Assembly</p><a href="parts_render/62.png"><img src="parts_render/62.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><p>75 caster_yoke Caster Yoke</p><a href="parts_render/75.png"><img src="parts_render/75.png" width="100px" height="100px"/></a></td><td></td><td><p>76 wheel Wheel</p><a href="parts_render/76.png"><img src="parts_render/76.png" width="100px" height="100px"/></a></td><td></td><td><p>77 wheel Wheel</p><a href="parts_render/77.png"><img src="parts_render/77.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>72 caster_yoke Caster Yoke</p><a href="parts_render/72.png"><img src="parts_render/72.png" width="100px" height="100px"/></a></td><td></td><td><p>73 wheel Wheel</p><a href="parts_render/73.png"><img src="parts_render/73.png" width="100px" height="100px"/></a></td><td></td><td><p>74 wheel Wheel</p><a href="parts_render/74.png"><img src="parts_render/74.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>69 caster_yoke Caster Yoke</p><a href="parts_render/69.png"><img src="parts_render/69.png" width="100px" height="100px"/></a></td><td></td><td><p>70 wheel Wheel</p><a href="parts_render/70.png"><img src="parts_render/70.png" width="100px" height="100px"/></a></td><td></td><td><p>71 wheel Wheel</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>66 caster_yoke Caster Yoke</p><a href="parts_render/66.png"><img src="parts_render/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 wheel Wheel</p><a href="parts_render/67.png"><img src="parts_render/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 wheel Wheel</p><a href="parts_render/68.png"><img src="parts_render/68.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>63 caster_yoke Caster Yoke</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 wheel Wheel</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td><td></td><td><p>65 wheel Wheel</p><a href="parts_render/65.png"><img src="parts_render/65.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42057/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/42057/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..e99099e7602e4405fa02e23d4377b649133ff981
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42057/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_seat chair_seat</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>7 chair_base chair_base</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.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 seat_surface seat_surface</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>8 star_leg_base star_leg_base</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.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><p>6 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>9 central_support central_support</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 central_support central_support</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 central_support central_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><p>12 mechanical_control mechanical_control</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><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><p>13 lever lever</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 knob knob</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>16 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 leg leg</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 caster caster</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>24 caster caster</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>27 caster caster</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>30 caster caster</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>33 caster caster</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td></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><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><p>23 wheel wheel</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>25 wheel wheel</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 wheel wheel</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>28 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><p>29 wheel wheel</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>31 wheel wheel</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel wheel</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>34 wheel wheel</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel wheel</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42378/bounding_box.json b/data/PartNet-Mobility/Chair/42378/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..af1ec986a1e61a036b457556a6cf5c35191f8506
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.47457, -0.763301, -0.451667], "max": [0.564256, 0.948677, 0.630921]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42378/meta.json b/data/PartNet-Mobility/Chair/42378/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbefa4ba0c3209ca7417404d7d9e02c72778df96
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/meta.json
@@ -0,0 +1 @@
+{"model_id": "bd504539074e453721a08935eb37d792", "anno_id": "42378", "user_id": "zhangyu", "time_in_sec": "948", "version": "5", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42378/mobility.urdf b/data/PartNet-Mobility/Chair/42378/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0d65115519815e043eda06f378e0819d2eeaccff
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/mobility.urdf
@@ -0,0 +1,1421 @@
+<?xml version="1.0" ?>
+<robot name="partnet_bd504539074e453721a08935eb37d792">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever-41">
+			<origin xyz="-0.06631896179169411 0.32121745517384037 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-41">
+			<origin xyz="-0.06631896179169411 0.32121745517384037 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-41">
+			<origin xyz="-0.06631896179169411 0.32121745517384037 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.06631896179169411 0.32121745517384037 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.06631896179169411 0.32121745517384037 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.06631896179169411 0.32121745517384037 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.06976796179169412 -0.32121745517384037 -0.095221"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_13"/>
+		<limit lower="-0.0" upper="0.22619467105846575"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lever-42">
+			<origin xyz="0.07795849341899169 0.3212174551429398 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-42">
+			<origin xyz="0.07795849341899169 0.3212174551429398 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-42">
+			<origin xyz="0.07795849341899169 0.3212174551429398 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.07795849341899169 0.3212174551429398 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.07795849341899169 0.3212174551429398 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.07795849341899169 0.3212174551429398 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.07450949341899168 -0.3212174551429398 -0.095221"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_13"/>
+		<limit lower="0.0" upper="0.23876104167282428"/>
+	</joint>
+	<link name="link_2">
+		<visual name="knob-43">
+			<origin xyz="0.00425635887304314 -0.02670495363478618 -0.13701235837165945"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-43">
+			<origin xyz="0.00425635887304314 -0.02670495363478618 -0.13701235837165945"/>
+			<geometry>
+				<mesh filename="textured_objs/original-126.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-43">
+			<origin xyz="0.00425635887304314 -0.02670495363478618 -0.13701235837165945"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-43">
+			<origin xyz="0.00425635887304314 -0.02670495363478618 -0.13701235837165945"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.00425635887304314 -0.02670495363478618 -0.13701235837165945"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.00425635887304314 -0.02670495363478618 -0.13701235837165945"/>
+			<geometry>
+				<mesh filename="textured_objs/original-126.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.00425635887304314 -0.02670495363478618 -0.13701235837165945"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.00425635887304314 -0.02670495363478618 -0.13701235837165945"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.0008073588730431397 0.02670495363478618 0.041791358371659454"/>
+		<axis xyz="-0.001483305762027504 0.9815201090541597 -0.19135327362323118"/>
+		<child link="link_2"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-84">
+			<origin xyz="0.3619257648211254 0.727225903876053 0.29762217401545005"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-84">
+			<origin xyz="0.3619257648211254 0.727225903876053 0.29762217401545005"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3619257648211254 0.727225903876053 0.29762217401545005"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3619257648211254 0.727225903876053 0.29762217401545005"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.04851084445717324 -0.727225903876053 -0.10030532480027274"/>
+		<axis xyz="0.6351631258233489 -6.9762854724386185e-06 -0.7723780185541561"/>
+		<child link="link_3"/>
+		<parent link="link_15"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-85">
+			<origin xyz="0.3619257648211254 0.727225903876053 0.29762217401545005"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-85">
+			<origin xyz="0.3619257648211254 0.727225903876053 0.29762217401545005"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3619257648211254 0.727225903876053 0.29762217401545005"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3619257648211254 0.727225903876053 0.29762217401545005"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="0.04851084445717324 -0.727225903876053 -0.10030532480027274"/>
+		<axis xyz="0.6351631258233489 -6.9762854724386185e-06 -0.7723780185541561"/>
+		<child link="link_4"/>
+		<parent link="link_15"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-80">
+			<origin xyz="-0.11642798358664253 0.727224852755718 0.4195259785012089"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-80">
+			<origin xyz="-0.11642798358664253 0.727224852755718 0.4195259785012089"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.11642798358664253 0.727224852755718 0.4195259785012089"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.11642798358664253 0.727224852755718 0.4195259785012089"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.0335525523930551 -0.727224852755718 -0.036720479952114804"/>
+		<axis xyz="-0.9635774855273521 8.472757606663622e-06 -0.267429297783541"/>
+		<child link="link_5"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-81">
+			<origin xyz="-0.11642798358664253 0.727224852755718 0.4195259785012089"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-81">
+			<origin xyz="-0.11642798358664253 0.727224852755718 0.4195259785012089"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.11642798358664253 0.727224852755718 0.4195259785012089"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.11642798358664253 0.727224852755718 0.4195259785012089"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.0335525523930551 -0.727224852755718 -0.036720479952114804"/>
+		<axis xyz="-0.9635774855273521 8.472757606663622e-06 -0.267429297783541"/>
+		<child link="link_6"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-76">
+			<origin xyz="-0.527866978725895 0.727219195209098 -0.021702608759098088"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-76">
+			<origin xyz="-0.527866978725895 0.727219195209098 -0.021702608759098088"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.527866978725895 0.727219195209098 -0.021702608759098088"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.527866978725895 0.727219195209098 -0.021702608759098088"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.02929644962546074 -0.727219195209098 -0.07208252117228132"/>
+		<axis xyz="-0.0411685256683067 -6.503557361668344e-05 0.9991522147624315"/>
+		<child link="link_7"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-77">
+			<origin xyz="-0.527866978725895 0.727219195209098 -0.021702608759098088"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-77">
+			<origin xyz="-0.527866978725895 0.727219195209098 -0.021702608759098088"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.527866978725895 0.727219195209098 -0.021702608759098088"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.527866978725895 0.727219195209098 -0.021702608759098088"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.02929644962546074 -0.727219195209098 -0.07208252117228132"/>
+		<axis xyz="-0.0411685256683067 -6.503557361668344e-05 0.9991522147624315"/>
+		<child link="link_8"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-72">
+			<origin xyz="-0.38488906337427803 0.7272103198605179 -0.3623015230712976"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-72">
+			<origin xyz="-0.38488906337427803 0.7272103198605179 -0.3623015230712976"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.38488906337427803 0.7272103198605179 -0.3623015230712976"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
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+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_13"/>
+		<parent link="link_13_helper"/>
+	</joint>
+	<link name="link_14">
+		<visual name="central_support-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
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+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-104.obj"/>
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+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
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+		<visual name="leg-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-125.obj"/>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-104.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-125.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_14"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_15">
+		<visual name="caster_yoke-82">
+			<origin xyz="0.4104366092782986 0 0.1973168492151773"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_yoke-82">
+			<origin xyz="0.4104366092782986 0 0.1973168492151773"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-83">
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+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4104366092782986 0 0.1973168492151773"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4104366092782986 0 0.1973168492151773"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
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+		<collision>
+			<origin xyz="0.4104366092782986 0 0.1973168492151773"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0.4104366092782986 0 0.1973168492151773"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="-0.4104366092782986 0 -0.1973168492151773"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_15"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_16">
+		<visual name="caster_yoke-78">
+			<origin xyz="-0.14998053597969763 0 0.38280549854909407"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_yoke-78">
+			<origin xyz="-0.14998053597969763 0 0.38280549854909407"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
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+		</visual>
+		<visual name="caster_yoke-78">
+			<origin xyz="-0.14998053597969763 0 0.38280549854909407"/>
+			<geometry>
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+		<visual name="caster_stem-79">
+			<origin xyz="-0.14998053597969763 0 0.38280549854909407"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.14998053597969763 0 0.38280549854909407"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
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+		<collision>
+			<origin xyz="-0.14998053597969763 0 0.38280549854909407"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
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+		<collision>
+			<origin xyz="-0.14998053597969763 0 0.38280549854909407"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
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+		</collision>
+		<collision>
+			<origin xyz="-0.14998053597969763 0 0.38280549854909407"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
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+		</collision>
+	</link>
+	<joint name="joint_16" type="continuous">
+		<origin xyz="0.14998053597969763 0 -0.38280549854909407"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_16"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_17">
+		<visual name="caster_yoke-74">
+			<origin xyz="-0.4985705291004343 0 -0.09378512993137941"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
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+			<geometry>
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+		<collision>
+			<origin xyz="-0.4985705291004343 0 -0.09378512993137941"/>
+			<geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
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+	</link>
+	<joint name="joint_17" type="continuous">
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+		<axis xyz="0 1 0"/>
+		<child link="link_17"/>
+		<parent link="link_14"/>
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+	<link name="link_18">
+		<visual name="caster_yoke-70">
+			<origin xyz="-0.14844202349308022 0 -0.5651304490388627"/>
+			<geometry>
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+		<collision>
+			<origin xyz="-0.14844202349308022 0 -0.5651304490388627"/>
+			<geometry>
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+		<collision>
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+			<geometry>
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+		<collision>
+			<origin xyz="-0.14844202349308022 0 -0.5651304490388627"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
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+		<collision>
+			<origin xyz="-0.14844202349308022 0 -0.5651304490388627"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="continuous">
+		<origin xyz="0.14844202349308022 0 0.5651304490388627"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_18"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_19">
+		<visual name="caster_yoke-68">
+			<origin xyz="0.4076055615620669 0 -0.38887498314233165"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
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+		<visual name="caster_yoke-68">
+			<origin xyz="0.4076055615620669 0 -0.38887498314233165"/>
+			<geometry>
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+		<visual name="caster_yoke-68">
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+				<mesh filename="textured_objs/original-25.obj"/>
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+		<visual name="caster_stem-69">
+			<origin xyz="0.4076055615620669 0 -0.38887498314233165"/>
+			<geometry>
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+		<collision>
+			<origin xyz="0.4076055615620669 0 -0.38887498314233165"/>
+			<geometry>
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+		<collision>
+			<origin xyz="0.4076055615620669 0 -0.38887498314233165"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4076055615620669 0 -0.38887498314233165"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4076055615620669 0 -0.38887498314233165"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_19" type="continuous">
+		<origin xyz="-0.4076055615620669 0 0.38887498314233165"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_19"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_13_helper"/>
+	<joint name="joint_20" type="prismatic">
+		<origin xyz="-0.0034490000000000007 0 0.095221"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_13_helper"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.06800000000000006"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/42378/mobility_v2.json b/data/PartNet-Mobility/Chair/42378/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e50f6f1fd4b52b5acc8430c4a8e9b6423fa2a10d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/mobility_v2.json
@@ -0,0 +1 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/42378/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9dd0a47941170d740b0997273bcd0c32ff1e1a6a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/point_sample/ply-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/42378/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/42378/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..46241c1253f46ea26a42bd7b2fd9dae7726c15d1
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/42378/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e176d8693e810da38c35738fa1513df954806bb2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/42378/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/42378/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..be5cf4524e8cbcecfe127db20aa80ad88f70f236
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/42378/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/42378/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..412a00b18a1a7fac407edfec0edcb3246ca7ef20
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/42378/result.json b/data/PartNet-Mobility/Chair/42378/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..39955a5004cb96726a223ebc78b9dc5f66bc69c6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["new-1"], "id": 62, "name": "back_soft_surface"}], "id": 56, "name": "back_surface"}, {"text": "Back Support", "objs": ["original-118"], "id": 57, "name": "back_support"}, {"text": "Back Support", "objs": ["original-2"], "id": 58, "name": "back_support"}, {"text": "Back Frame", "children": [{"text": "Back Frame Vertical Bar", "objs": ["new-9"], "id": 60, "name": "back_frame_vertical_bar"}, {"text": "Back Frame Vertical Bar", "objs": ["new-7"], "id": 61, "name": "back_frame_vertical_bar"}], "id": 59, "name": "back_frame"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-127"], "id": 54, "name": "arm_holistic_frame"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-97"], "id": 53, "name": "arm_holistic_frame"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["new-0"], "id": 50, "name": "seat_soft_surface"}], "id": 48, "name": "seat_surface"}, {"text": "Seat Frame", "children": [{"text": "Seat Frame Vertical Bar", "objs": ["new-4", "new-8"], "id": 51, "name": "seat_frame_vertical_bar"}, {"text": "Seat Frame Vertical Bar", "objs": ["new-2", "new-6"], "id": 52, "name": "seat_frame_vertical_bar"}], "id": 49, "name": "seat_frame"}, {"text": "Seat Support", "objs": ["original-74"], "id": 55, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-21", "original-22", "original-73"], "id": 7, "name": "central_support"}, {"text": "Central Support", "objs": ["original-72"], "id": 8, "name": "central_support"}, {"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-93", "original-92", "original-91"], "id": 41, "name": "lever"}, {"text": "Lever", "objs": ["original-96", "original-94", "original-95"], "id": 42, "name": "lever"}, {"text": "Knob", "objs": ["original-75", "original-126", "original-85", "original-84"], "id": 43, "name": "knob"}, {"text": "Mounting Plane", "objs": ["original-4"], "id": 44, "name": "mounting_plate"}], "id": 9, "name": "mechanical_control"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-3"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-1"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-104"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-119"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["original-125"], "id": 15, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-33", "original-103", "original-32"], "id": 82, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-16"], "id": 83, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-51", "original-52"], "id": 84, "name": "wheel"}, {"text": "Wheel", "objs": ["original-54", "original-53"], "id": 85, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-99", "original-27", "original-26"], "id": 78, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-15"], "id": 79, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-37", "original-38"], "id": 80, "name": "wheel"}, {"text": "Wheel", "objs": ["original-36", "original-35"], "id": 81, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-31", "original-100", "original-30"], "id": 74, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-12"], "id": 75, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-39", "original-40"], "id": 76, "name": "wheel"}, {"text": "Wheel", "objs": ["original-42", "original-41"], "id": 77, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-29", "original-101", "original-28"], "id": 70, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-13"], "id": 71, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-45", "original-46"], "id": 72, "name": "wheel"}, {"text": "Wheel", "objs": ["original-44", "original-43"], "id": 73, "name": "wheel"}], "id": 19, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-47", "original-48"], "id": 66, "name": "wheel"}, {"text": "Wheel", "objs": ["original-50", "original-49"], "id": 67, "name": "wheel"}, {"text": "Caster Yoke", "objs": ["original-102", "original-24", "original-25"], "id": 68, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-14"], "id": 69, "name": "caster_stem"}], "id": 20, "name": "caster"}], "id": 10, "name": "star_leg_set"}, {"text": "Seat Connector", "objs": ["original-108", "original-107", "original-77", "original-111", "original-110", "original-124", "original-121", "original-78", "original-122", "original-123", "original-57", "original-114", "original-113", "original-117", "original-116", "original-5", "original-81", "original-80", "original-18", "original-83", "original-19", "original-82", "original-68", "original-65", "original-69", "original-66", "original-56", "original-59", "original-60", "original-62", "original-63"], "id": 45, "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/42378/result_after_merging.json b/data/PartNet-Mobility/Chair/42378/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..27630084ac4e0551cb5cd5fe831e37ec0a043ac2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/result_after_merging.json
@@ -0,0 +1 @@
+[{"id": 0, "children": [{"id": 1, "children": [{"id": 2, "children": [{"id": 3, "text": "back_single_surface", "ori_id": 62, "name": "back_single_surface", "objs": ["new-1"]}], "text": "back_surface", "ori_id": 56, "objs": ["new-1"], "name": "back_surface"}, {"id": 4, "text": "back_support", "ori_id": 57, "name": "back_support", "objs": ["original-118"]}, {"id": 5, "text": "back_support", "ori_id": 58, "name": "back_support", "objs": ["original-2"]}, {"id": 6, "children": [{"id": 7, "text": "back_frame_vertical_bar", "ori_id": 60, "name": "back_frame_vertical_bar", "objs": ["new-9"]}, {"id": 8, "text": "back_frame_vertical_bar", "ori_id": 61, "name": "back_frame_vertical_bar", "objs": ["new-7"]}], "text": "back_frame", "ori_id": 59, "objs": ["new-9", "new-7"], "name": "back_frame"}], "text": "chair_back", "ori_id": 1, "objs": ["new-1", "original-118", "original-2", "new-9", "new-7"], "name": "chair_back"}, {"id": 9, "children": [{"id": 10, "text": "arm_holistic_frame", "ori_id": 54, "name": "arm_holistic_frame", "objs": ["original-127"]}], "text": "chair_arm", "ori_id": 2, "objs": ["original-127"], "name": "chair_arm"}, {"id": 11, "children": [{"id": 12, "text": "arm_holistic_frame", "ori_id": 53, "name": "arm_holistic_frame", "objs": ["original-97"]}], "text": "chair_arm", "ori_id": 3, "objs": ["original-97"], "name": "chair_arm"}, {"id": 13, "children": [{"id": 14, "children": [{"id": 15, "text": "seat_single_surface", "ori_id": 50, "name": "seat_single_surface", "objs": ["new-0"]}], "text": "seat_surface", "ori_id": 48, "objs": ["new-0"], "name": "seat_surface"}, {"id": 16, "children": [{"id": 17, "text": "seat_frame_bar", "ori_id": 51, "name": "seat_frame_bar", "objs": ["new-4", "new-8"]}, {"id": 18, "text": "seat_frame_bar", "ori_id": 52, "name": "seat_frame_bar", "objs": ["new-2", "new-6"]}], "text": "seat_frame", "ori_id": 49, "objs": ["new-4", "new-8", "new-2", "new-6"], "name": "seat_frame"}, {"id": 19, "text": "seat_support", "ori_id": 55, "name": "seat_support", "objs": ["original-74"]}], "text": "chair_seat", "ori_id": 4, "objs": ["new-0", "new-4", "new-8", "new-2", "new-6", "original-74"], "name": "chair_seat"}, {"id": 20, "children": [{"id": 21, "children": [{"id": 22, "text": "central_support", "ori_id": 7, "name": "central_support", "objs": ["original-21", "original-22", "original-73"]}, {"id": 23, "text": "central_support", "ori_id": 8, "name": "central_support", "objs": ["original-72"]}, {"id": 24, "children": [{"id": 25, "text": "lever", "ori_id": 41, "name": "lever", "objs": ["original-93", "original-92", "original-91"]}, {"id": 26, "text": "lever", "ori_id": 42, "name": "lever", "objs": ["original-96", "original-94", "original-95"]}, {"id": 27, "text": "knob", "ori_id": 43, "name": "knob", "objs": ["original-75", "original-126", "original-85", "original-84"]}], "text": "mechanical_control", "ori_id": 9, "objs": ["original-93", "original-92", "original-91", "original-96", "original-94", "original-95", "original-75", "original-126", "original-85", "original-84", "original-4"], "name": "mechanical_control"}, {"id": 28, "children": [{"id": 29, "text": "leg", "ori_id": 11, "name": "leg", "objs": ["original-3"]}, {"id": 30, "text": "leg", "ori_id": 12, "name": "leg", "objs": ["original-1"]}, {"id": 31, "text": "leg", "ori_id": 13, "name": "leg", "objs": ["original-104"]}, {"id": 32, "text": "leg", "ori_id": 14, "name": "leg", "objs": ["original-119"]}, {"id": 33, "text": "leg", "ori_id": 15, "name": "leg", "objs": ["original-125"]}, {"id": 34, "children": [{"id": 35, "text": "caster_stem", "ori_id": 83, "name": "caster_stem", "objs": ["original-16"]}, {"id": 36, "text": "wheel", "ori_id": 84, "name": "wheel", "objs": ["original-51", "original-52"]}, {"id": 37, "text": "wheel", "ori_id": 85, "name": "wheel", "objs": ["original-54", "original-53"]}], "text": "caster", "ori_id": 16, "objs": ["original-33", "original-103", "original-32", "original-16", "original-51", "original-52", "original-54", "original-53"], "name": "caster"}, {"id": 38, "children": [{"id": 39, "text": "caster_stem", "ori_id": 79, "name": "caster_stem", "objs": ["original-15"]}, {"id": 40, "text": "wheel", "ori_id": 80, "name": "wheel", "objs": ["original-37", "original-38"]}, {"id": 41, "text": "wheel", "ori_id": 81, "name": "wheel", "objs": ["original-36", "original-35"]}], "text": "caster", "ori_id": 17, "objs": ["original-99", "original-27", "original-26", "original-15", "original-37", "original-38", "original-36", "original-35"], "name": "caster"}, {"id": 42, "children": [{"id": 43, "text": "caster_stem", "ori_id": 75, "name": "caster_stem", "objs": ["original-12"]}, {"id": 44, "text": "wheel", "ori_id": 76, "name": "wheel", "objs": ["original-39", "original-40"]}, {"id": 45, "text": "wheel", "ori_id": 77, "name": "wheel", "objs": ["original-42", "original-41"]}], "text": "caster", "ori_id": 18, "objs": ["original-31", "original-100", "original-30", "original-12", "original-39", "original-40", 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"original-24", "original-25", "original-14"], "name": "caster"}], "text": "star_leg_set", "ori_id": 10, "objs": ["original-3", "original-1", "original-104", "original-119", "original-125", "original-33", "original-103", "original-32", "original-16", "original-51", "original-52", "original-54", "original-53", "original-99", "original-27", "original-26", "original-15", "original-37", "original-38", "original-36", "original-35", "original-31", "original-100", "original-30", "original-12", "original-39", "original-40", "original-42", "original-41", "original-29", "original-101", "original-28", "original-13", "original-45", "original-46", "original-44", "original-43", "original-47", "original-48", "original-50", "original-49", "original-102", "original-24", "original-25", "original-14"], "name": "star_leg_set"}], "text": "star_leg_base", "ori_id": 6, "objs": ["original-21", "original-22", "original-73", "original-72", "original-93", "original-92", "original-91", "original-96", 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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42378/semantics.txt b/data/PartNet-Mobility/Chair/42378/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be57a3ed4181b3fa6ac8ea373bd0f5b66b051e91
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/semantics.txt
@@ -0,0 +1,20 @@
+link_0 hinge lever
+link_1 hinge lever
+link_2 hinge knob
+link_3 hinge wheel
+link_4 hinge wheel
+link_5 hinge wheel
+link_6 hinge wheel
+link_7 hinge wheel
+link_8 hinge wheel
+link_9 hinge wheel
+link_10 hinge wheel
+link_11 hinge wheel
+link_12 hinge wheel
+link_13 slider+ seat
+link_14 free chair_leg
+link_15 hinge caster
+link_16 hinge caster
+link_17 hinge caster
+link_18 hinge caster
+link_19 hinge caster
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1047e934ec37299d71a65b494f9cfc1e8f848124
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/new-0.mtl
@@ -0,0 +1,16 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
+Kd 0.1568627450980392 0.1568627450980392 0.1568627450980392 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+
+newmtl material-1
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dac315be4ea980c82f08c9c70c20cd612ba68402
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/new-0.obj
@@ -0,0 +1,5547 @@
+mtllib new-0.mtl
+v -0.301074 -0.052157 -0.208309
+v -0.300097 -0.070490 -0.234879
+v -0.301074 -0.096515 -0.205668
+v -0.300640 -0.050874 -0.206506
+v -0.301074 -0.073669 -0.187810
+v -0.300097 -0.099111 -0.207696
+v -0.301074 -0.115563 -0.170956
+v -0.301074 -0.067613 -0.183072
+v 0.327418 -0.050874 -0.206506
+v 0.327853 -0.096515 -0.205667
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1047e934ec37299d71a65b494f9cfc1e8f848124
--- /dev/null
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@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b8214fe04001eec46cc3b80dde64c047aa06890
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838d51c74a6b3a0b1e4e7c61dd93a2c8cf131704
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/new-2.mtl
@@ -0,0 +1,48 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..658e992320b83a32cda73043366f26db144ce1f3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/new-2.obj
@@ -0,0 +1,3618 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/new-4.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7a17b19180178cf158c5e5994e53c7fc80be801
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/new-6.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/new-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838d51c74a6b3a0b1e4e7c61dd93a2c8cf131704
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/new-6.mtl
@@ -0,0 +1,48 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/new-6.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/new-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c4c271e7171f356dbe9b22e1c66b6c0b78f0a41
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/new-6.obj
@@ -0,0 +1,25 @@
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/new-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838d51c74a6b3a0b1e4e7c61dd93a2c8cf131704
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/new-7.mtl
@@ -0,0 +1,48 @@
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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/42378/textured_objs/new-9.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/new-9.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/new-9.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/new-9.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-1.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0bbd231709aa8008079a3295f3f35d7a08b5ec32
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-1.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bafa06d14c54142d7ed737ff41bad06c6f83802f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-1.obj
@@ -0,0 +1,5311 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-100.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-100.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.49411764705882355 0.49411764705882355 0.49411764705882355 
+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/42378/textured_objs/original-100.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56bd35419a501103cabbf4edd0d59415d6d73573
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-100.obj
@@ -0,0 +1,44 @@
+# SSTK version 0.8.0
+# 100
+mtllib original-100.mtl
+o mesh95/mesh95-geometry#mesh95-geometry
+v 0.495405 -0.731700 0.082354
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+vn 0.9991519913173693 0 0.04117399964219794
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-101.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-101.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-101.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-101.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9826817ddcca6bd6e1eeb65205981ace209413c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-101.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 101
+mtllib original-101.mtl
+o mesh96/mesh96-geometry#mesh96-geometry
+v 0.157957 -0.731700 0.559671
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-102.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-102.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-102.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-102.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..073019ab42186ab3be92bc4cdb62b9f4b1202cbd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-102.obj
@@ -0,0 +1,44 @@
+# SSTK version 0.8.0
+# 102
+mtllib original-102.mtl
+o mesh97/mesh97-geometry#mesh97-geometry
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-103.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-103.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-103.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-103.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e42a9fcf7dc39fd0fb220dc8d66427a5bcb90ff
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-103.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 103
+mtllib original-103.mtl
+o mesh98/mesh98-geometry#mesh98-geometry
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-104.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-104.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0bbd231709aa8008079a3295f3f35d7a08b5ec32
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-104.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
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+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-104.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d0841d84d6d4e7c73c8d439a233fede3b4f755b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-104.obj
@@ -0,0 +1,5311 @@
+# SSTK version 0.8.0
+# 104
+mtllib original-104.mtl
+o Archmodels_3_3/Archmodels_3/mesh1/mesh1-geometry#mesh1-geometry
+v 0.063155 -0.600352 0.124061
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-107.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-107.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-107.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-107.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc3596c94d08f086b1bf3e9a2013fe56e9175dd2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-107.obj
@@ -0,0 +1,104 @@
+# SSTK version 0.8.0
+# 107
+mtllib original-107.mtl
+o mesh100/mesh100-geometry#mesh100-geometry
+v -0.275847 -0.164111 0.310854
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-108.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-108.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-108.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-108.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b45935afc0cd5c66f545509842f2e7e6fabce2a5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-108.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 108
+mtllib original-108.mtl
+o mesh101/mesh101-geometry#mesh101-geometry
+v -0.284737 -0.164769 0.311140
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-110.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-110.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-110.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Kd 0.49411764705882355 0.49411764705882355 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-110.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-110.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44bac9986d9db721b59512da3714a5a17a35b983
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-110.obj
@@ -0,0 +1,112 @@
+# SSTK version 0.8.0
+# 110
+mtllib original-110.mtl
+o mesh103/mesh103-geometry#mesh103-geometry
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-111.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-111.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-111.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-111.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef26492e739eb87960e2dc23a639881f262d019c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-111.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 111
+mtllib original-111.mtl
+o mesh104/mesh104-geometry#mesh104-geometry
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-113.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-113.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-113.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-113.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6486d48a9e5067b4c31c28597087a11b96d05cff
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-113.obj
@@ -0,0 +1,112 @@
+# SSTK version 0.8.0
+# 113
+mtllib original-113.mtl
+o mesh106/mesh106-geometry#mesh106-geometry
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-114.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-114.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-114.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-114.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f60d3484ddbc0c26a28a63b274269867fcf687
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-114.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 114
+mtllib original-114.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-116.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-116.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-116.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-116.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfce3b902294992f3efdd6b4c5e99bf4b42f750d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-116.obj
@@ -0,0 +1,104 @@
+# SSTK version 0.8.0
+# 116
+mtllib original-116.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-117.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-117.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-117.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-117.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d15b93035e691656af56e66374c235e7ffe9806
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-117.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 117
+mtllib original-117.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-118.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-118.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-118.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-118.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c738220a696b2fc283c91bb29fd88062f52ba78c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-118.obj
@@ -0,0 +1,460 @@
+# SSTK version 0.8.0
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+mtllib original-118.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..0bbd231709aa8008079a3295f3f35d7a08b5ec32
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-119.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-119.obj
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index 0000000000000000000000000000000000000000..65f74137ca5fb8a4af936fd5bc24b5de6a38e05f
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-12.mtl
@@ -0,0 +1,14 @@
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+
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+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ec2abc71c468317c0d2c4a7e899b2077b219310
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-121.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-121.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-121.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-121.obj
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index 0000000000000000000000000000000000000000..1cb3d70289bc447cf9e4ca4747ceea485f203116
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new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-123.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-123.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-123.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc317b06012556e1556d708ad360dee841b44f3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-123.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-124.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-124.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-124.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-124.obj
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index 0000000000000000000000000000000000000000..24e1504aebe69ea1f43aaf0d8833e43f76206945
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new file mode 100644
index 0000000000000000000000000000000000000000..0bbd231709aa8008079a3295f3f35d7a08b5ec32
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-125.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d039ad372481c3a3748899ab6e95258c307c8cfd
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-126.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-126.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-126.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-126.obj
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index 0000000000000000000000000000000000000000..18acd3c5ca0ef6c160f89218f16120ffe8f50ea9
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-127.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-127.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-127.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-127.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48ade7f3f68810faa54a2a117c1eda9603785b6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-127.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-13.mtl
@@ -0,0 +1,14 @@
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+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a32b2e712a05b3eccb4beb81bfe57daca743d37
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-14.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adf9fa9910d9b739eb0987470ccc9ab7f9b61b18
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-14.obj
@@ -0,0 +1,1021 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-15.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0355b47724fd4ee43fdb0fe9952c3d7a1dea9938
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-16.mtl
@@ -0,0 +1,14 @@
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+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fe56e2fd3589260cfe6bc004732655e108a0218
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-18.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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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/42378/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08e02bb9bbe8b82baae5ac44555bb6154f26baec
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-18.obj
@@ -0,0 +1,2890 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-19.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.49411764705882355 0.49411764705882355 0.49411764705882355 
+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/42378/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c8da4b4798802e3680516a2a931a899bcee356e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-19.obj
@@ -0,0 +1,2874 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.49411764705882355 0.49411764705882355 0.49411764705882355 
+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/42378/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f370f43ac15cad9549444d60722a94ff3c1cf6c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-2.obj
@@ -0,0 +1,470 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o _123.DXF_2_1/_123.DXF_2/mesh2/mesh2-geometry#mesh2-geometry
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-21.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f80c731325a409675966ef56e5fd4020b7bc67c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1e69793ccdc702397da2472e274dad153f8d935
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-24.obj
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index 0000000000000000000000000000000000000000..f4497867444cde110b546d1ff5eeade26a02f24d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-25.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-25.obj
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index 0000000000000000000000000000000000000000..05bb1c3d0b5d0dd143cc80adfb906508e881fdd6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-26.obj
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index 0000000000000000000000000000000000000000..dc113b52e87cc5e925000d4c2db85a02bb934867
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-27.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c93ec7913a4cc1634d126f9d2f59ba30098b4f86
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-27.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1fc62e1224f2efdebbbee1eaa75c81b5f890e2d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-29.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-29.obj
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index 0000000000000000000000000000000000000000..dff1a8ec3b884a0f8bbd58144440cd777c431bce
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0bbd231709aa8008079a3295f3f35d7a08b5ec32
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b585618869c2efa0108f90bee5e683c363f7618c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-30.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.49411764705882355 0.49411764705882355 0.49411764705882355 
+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/42378/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca2fcf442cdb466f032dd943eb6f2cc059aac759
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-31.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-31.obj
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index 0000000000000000000000000000000000000000..307f6b67b03a618d0d43c373f41a88e2559d7394
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-32.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-32.obj
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index 0000000000000000000000000000000000000000..ed109ad162f90acc8d8ef8ea48f2c54395ae85b0
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-33.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b64b8c0e5ec24ca9ae3ec6173e282e0029e08e06
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-35.obj
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index 0000000000000000000000000000000000000000..64254176f3e60b36243a0e2ba98f07fa609c4036
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-36.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-36.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-36.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42200cc96b49e717edcd0c1b63f61db2b5c632e5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-36.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-37.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d64d7d3ccaafddc462885c0483ff9354a0d0a88f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-37.obj
@@ -0,0 +1,274 @@
+# SSTK version 0.8.0
+# 37
+mtllib original-37.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-38.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d4450c85bd7f9cf55dfcb098eced55df0e524d5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-39.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0a6ee648ca5431d121a65f1db5e72e2dea77527
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-39.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0bbd231709aa8008079a3295f3f35d7a08b5ec32
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37825e5f9edc6f104d01f56111930c00cbd20601
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-40.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-40.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.49411764705882355 0.49411764705882355 0.49411764705882355 
+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/42378/textured_objs/original-40.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef425d76386bd8af0fbea5f2713a363702445646
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-40.obj
@@ -0,0 +1,1845 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-41.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-41.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-41.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c05617e9845b090f1411bc67ff0c4eb8db16394b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-41.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-42.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-42.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-42.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..830f3ae24807a9211097c2684a941155f79abcb6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-42.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-43.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-43.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-43.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..529996abae9e4f40452390839c4663999762a08f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-43.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-44.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-44.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ede8d05a0121c7ad5da6422509b7be28aace5a7
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-45.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-45.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.49411764705882355 0.49411764705882355 0.49411764705882355 
+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/42378/textured_objs/original-45.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d39ba6c885f7c7b26d4c587a9e13a29a45c8a5cf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-45.obj
@@ -0,0 +1,274 @@
+# SSTK version 0.8.0
+# 45
+mtllib original-45.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-46.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-46.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-46.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a8cf2f3327dd11c56ee9219c9f79ff9258eee03
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-46.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-47.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-47.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-47.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf69789c9d19369eae91eb4295c127a0c0465c3a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-47.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-48.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-48.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-48.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13003ce8cd7a2f1e8494a505c785976831eb22e5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-48.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-49.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-49.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-49.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eab1a45fd0168f9cd1ac6daf8dbde19181819a97
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-49.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0bbd231709aa8008079a3295f3f35d7a08b5ec32
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-5.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e03b531e9b9732fcf55cdafe18718c8e2970e364
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-5.obj
@@ -0,0 +1,10652 @@
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+mtllib original-5.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-50.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-50.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.49411764705882355 0.49411764705882355 0.49411764705882355 
+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/42378/textured_objs/original-50.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d51c254baf9fd42d5f7b9b6d8f5156ea693c2959
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-50.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-51.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-51.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.49411764705882355 0.49411764705882355 0.49411764705882355 
+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/42378/textured_objs/original-51.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0366547ec82f438f8c1858dad6fd0f6d668040c6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-51.obj
@@ -0,0 +1,274 @@
+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-52.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-52.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-52.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec7804a7a81a8821e5beba12b174f99680f7e047
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-52.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-53.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-53.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-53.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c99116ce355c6ee94b46534ea819cb4d9645c36f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-53.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-54.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-54.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-54.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..163d7ffd363895fd2f5a8a32b39098102cbeb970
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-54.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-56.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-56.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-56.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baf5327289543a6bd8a759927c403b2d56d9ee02
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-56.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-57.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-57.mtl
@@ -0,0 +1,14 @@
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+
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+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-57.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d40d4543a85eb42a897071a6ff3037188ba4df3b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-57.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-59.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-59.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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+Kd 1 1 1 
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+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-59.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e131fa78bd4845e1fbfe75b34c8ceba345243bbd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-59.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 59
+mtllib original-59.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-60.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-60.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
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-60.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e349e4ba7e8af07bd076c55e2fab1e3b8a169f8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-60.obj
@@ -0,0 +1,104 @@
+# SSTK version 0.8.0
+# 60
+mtllib original-60.mtl
+o mesh61/mesh61-geometry#mesh61-geometry
+v -0.083284 -0.254739 0.309461
+v -0.082345 -0.244879 0.313576
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-62.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-62.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
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+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-62.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64cc8f4b01c35b80e75de70ca4717090372efe6d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-62.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 62
+mtllib original-62.mtl
+o mesh63/mesh63-geometry#mesh63-geometry
+v 0.076966 -0.244749 0.317634
+v 0.076966 -0.244749 0.309518
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+f 14//2 12//2 13//2
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-63.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-63.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Kd 0.49411764705882355 0.49411764705882355 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-63.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f726ce2a8d8c78d498aa0bbd8886fc507cb8c6c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-63.obj
@@ -0,0 +1,106 @@
+# SSTK version 0.8.0
+# 63
+mtllib original-63.mtl
+o mesh64/mesh64-geometry#mesh64-geometry
+v 0.093937 -0.254739 0.309461
+v 0.094876 -0.244879 0.313576
+v 0.094876 -0.254739 0.313576
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-65.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-65.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-65.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eb2b0f4c985050c157a8fdcd8c32afb4ac394d9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-65.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 65
+mtllib original-65.mtl
+o mesh66/mesh66-geometry#mesh66-geometry
+v 0.076142 -0.215830 0.046265
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-66.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-66.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
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-66.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2a5c2678c6327ba079aa6f37121fe6e33f9c4c5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-66.obj
@@ -0,0 +1,114 @@
+# SSTK version 0.8.0
+# 66
+mtllib original-66.mtl
+o mesh67/mesh67-geometry#mesh67-geometry
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-68.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-68.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-68.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12e40d846d7dc9b66d764e965ffe4de110f68340
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-68.obj
@@ -0,0 +1,46 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-69.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-69.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-69.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..351350b6b2515b470bcc2630f3490cce8bc6d393
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-69.obj
@@ -0,0 +1,106 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-72.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-72.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-72.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c74a3b9561f358756b80a4f6e255814a2757b3d8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-72.obj
@@ -0,0 +1,1802 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-73.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-73.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.49411764705882355 0.49411764705882355 0.49411764705882355 
+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/42378/textured_objs/original-73.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..968402f2f2b929f98d607a18c8e3bd95bf223c24
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-73.obj
@@ -0,0 +1,366 @@
+# SSTK version 0.8.0
+# 73
+mtllib original-73.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-74.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-74.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-74.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-74.obj
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index 0000000000000000000000000000000000000000..41355faf44a9c8fc446737cbf0de87d5d221e6a1
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-75.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-75.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-75.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4914b0cd410bbc426bfd9a1fbd63411ecde8154
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-75.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-77.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-77.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-77.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-77.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c096fc439fbf927de5e972594c7c75cb4ba908a8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-77.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-78.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-78.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-80.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-80.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-80.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c902f803dc86a84128e32df31dc937a5b236a4f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-80.obj
@@ -0,0 +1,70 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-81.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-81.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-81.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a919677013a46bc514ef379de84561bab0a5f57
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-81.obj
@@ -0,0 +1,178 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-82.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-82.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-82.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d19cafc735a45ad286ef89237ba4d4ea1e09266b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-82.obj
@@ -0,0 +1,70 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-83.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0bbd231709aa8008079a3295f3f35d7a08b5ec32
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-83.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-83.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..147355d592be2b87b9d7090427b3ba1b11ea413f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-83.obj
@@ -0,0 +1,10652 @@
+# SSTK version 0.8.0
+# 83
+mtllib original-83.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-84.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-84.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+Kd 1 1 1 
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+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-84.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eb93941470a520b23cd782344b3b1f2131a507d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-84.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-85.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-85.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-85.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c9cc07f6ab12f01d04f441998f41799c16c31d2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-85.obj
@@ -0,0 +1,4012 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-91.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-91.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..779286620975099af18afc6c96cf430b8ebffe7b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-91.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.49411764705882355 0.49411764705882355 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-91.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47a12d0a4d1e33240a9f49d4454cafe0aba73a28
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-91.obj
@@ -0,0 +1,801 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-92.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-92.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..779286620975099af18afc6c96cf430b8ebffe7b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-92.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-92.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..946dd4d1b08023de2cbcd0da314c349737ab6540
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-92.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-93.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-93.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..779286620975099af18afc6c96cf430b8ebffe7b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-93.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.49411764705882355 0.49411764705882355 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-93.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..190c5b60e96230ec93f3412b1ba40fdba4a5cdce
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-93.obj
@@ -0,0 +1,3359 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-94.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-94.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..779286620975099af18afc6c96cf430b8ebffe7b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-94.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.49411764705882355 0.49411764705882355 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-94.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99834eb23986da58b3b64a8d38ce0f55cab106fb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-94.obj
@@ -0,0 +1,795 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-95.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-95.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..779286620975099af18afc6c96cf430b8ebffe7b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-95.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d80ad426959efcf1c11cf47f7bc7eb845470b2ca
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-96.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-96.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..779286620975099af18afc6c96cf430b8ebffe7b
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+illum 3
+d 1
+Ns 30
+Kd 0.49411764705882355 0.49411764705882355 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-96.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7c0a4390f3a795bdebe671213e1ad3a5ef74787
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-96.obj
@@ -0,0 +1,3349 @@
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+# 96
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-97.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-97.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-97.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-97.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..122a94f3a5bf01274d293080e96ab590e9e51eba
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-97.obj
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-99.mtl b/data/PartNet-Mobility/Chair/42378/textured_objs/original-99.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-99.mtl
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diff --git a/data/PartNet-Mobility/Chair/42378/textured_objs/original-99.obj b/data/PartNet-Mobility/Chair/42378/textured_objs/original-99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b3d0a803033e6a63bff24e342036707721e188
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/textured_objs/original-99.obj
@@ -0,0 +1,44 @@
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diff --git a/data/PartNet-Mobility/Chair/42378/tree_hier.html b/data/PartNet-Mobility/Chair/42378/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..9312de38ff0ed2bc91e7eb11ed2452e8663621d9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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></td><td></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>56 back_surface Back Surface</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>57 back_support Back Support</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 back_support Back Support</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 back_frame Back Frame</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>54 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>53 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>48 seat_surface Seat Surface</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>49 seat_frame Seat Frame</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>55 seat_support Seat Support</p><a href="parts_render/55.png"><img src="parts_render/55.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>62 back_soft_surface Back Soft Surface</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>60 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 back_frame_vertical_bar Back Frame Vertical Bar</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>50 seat_soft_surface Seat Soft Surface</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>51 seat_frame_vertical_bar Seat Frame Vertical Bar</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 seat_frame_vertical_bar Seat Frame Vertical Bar</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>7 central_support Central Support</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 central_support Central Support</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 mechanical_control Mechanical Control</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 star_leg_set Star-shape Leg Set</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>45 seat_connector Seat Connector</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>41 lever Lever</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 lever Lever</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 knob Knob</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 mounting_plate Mounting Plane</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>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 leg Leg</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>19 caster Wheel Assembly</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>20 caster Wheel Assembly</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>82 caster_yoke Caster Yoke</p><a href="parts_render/82.png"><img src="parts_render/82.png" width="100px" height="100px"/></a></td><td></td><td><p>83 caster_stem Caster Stem</p><a href="parts_render/83.png"><img src="parts_render/83.png" width="100px" height="100px"/></a></td><td></td><td><p>84 wheel Wheel</p><a href="parts_render/84.png"><img src="parts_render/84.png" width="100px" height="100px"/></a></td><td></td><td><p>85 wheel Wheel</p><a href="parts_render/85.png"><img src="parts_render/85.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>78 caster_yoke Caster Yoke</p><a href="parts_render/78.png"><img src="parts_render/78.png" width="100px" height="100px"/></a></td><td></td><td><p>79 caster_stem Caster Stem</p><a href="parts_render/79.png"><img src="parts_render/79.png" width="100px" height="100px"/></a></td><td></td><td><p>80 wheel Wheel</p><a href="parts_render/80.png"><img src="parts_render/80.png" width="100px" height="100px"/></a></td><td></td><td><p>81 wheel Wheel</p><a href="parts_render/81.png"><img src="parts_render/81.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>74 caster_yoke Caster Yoke</p><a href="parts_render/74.png"><img src="parts_render/74.png" width="100px" height="100px"/></a></td><td></td><td><p>75 caster_stem Caster Stem</p><a href="parts_render/75.png"><img src="parts_render/75.png" width="100px" height="100px"/></a></td><td></td><td><p>76 wheel Wheel</p><a href="parts_render/76.png"><img src="parts_render/76.png" width="100px" height="100px"/></a></td><td></td><td><p>77 wheel Wheel</p><a href="parts_render/77.png"><img src="parts_render/77.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>70 caster_yoke Caster Yoke</p><a href="parts_render/70.png"><img src="parts_render/70.png" width="100px" height="100px"/></a></td><td></td><td><p>71 caster_stem Caster Stem</p><a href="parts_render/71.png"><img src="parts_render/71.png" width="100px" height="100px"/></a></td><td></td><td><p>72 wheel Wheel</p><a href="parts_render/72.png"><img src="parts_render/72.png" width="100px" height="100px"/></a></td><td></td><td><p>73 wheel Wheel</p><a href="parts_render/73.png"><img src="parts_render/73.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>66 wheel Wheel</p><a href="parts_render/66.png"><img src="parts_render/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 wheel Wheel</p><a href="parts_render/67.png"><img src="parts_render/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 caster_yoke Caster Yoke</p><a href="parts_render/68.png"><img src="parts_render/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 caster_stem Caster Stem</p><a href="parts_render/69.png"><img src="parts_render/69.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42378/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/42378/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..c126ae8c1369617faca962032dea6264382b0e52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42378/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></td><td></td><td></td><td><p>9 chair_arm chair_arm</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 chair_arm chair_arm</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>13 chair_seat chair_seat</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>20 chair_base chair_base</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_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_support back_support</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 back_frame back_frame</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>10 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>12 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>14 seat_surface seat_surface</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>16 seat_frame seat_frame</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>19 seat_support seat_support</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>21 star_leg_base star_leg_base</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>7 back_frame_vertical_bar back_frame_vertical_bar</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 back_frame_vertical_bar back_frame_vertical_bar</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>15 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>17 seat_frame_bar seat_frame_bar</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 seat_frame_bar seat_frame_bar</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>22 central_support central_support</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 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 mechanical_control mechanical_control</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>28 star_leg_set star_leg_set</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>25 lever lever</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 lever lever</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 knob knob</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 leg leg</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 leg leg</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 leg leg</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 leg leg</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 leg leg</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 caster</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>38 caster caster</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></td><td></td><td></td><td></td><td><p>42 caster caster</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></td><td></td><td></td><td></td><td><p>46 caster caster</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></td><td></td><td></td><td></td><td><p>50 caster caster</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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 caster_stem caster_stem</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 wheel wheel</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><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></td><td><p>39 caster_stem caster_stem</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 wheel wheel</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td><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></td><td><p>43 caster_stem caster_stem</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 wheel wheel</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td><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></td><td><p>47 caster_stem caster_stem</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 wheel wheel</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td><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></td><td><p>51 wheel wheel</p><a href="parts_render_after_merging/51.png"><img src="parts_render_after_merging/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 wheel wheel</p><a href="parts_render_after_merging/52.png"><img src="parts_render_after_merging/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 caster_stem caster_stem</p><a href="parts_render_after_merging/53.png"><img src="parts_render_after_merging/53.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42452/bounding_box.json b/data/PartNet-Mobility/Chair/42452/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdaaacf5fd97158a2507c17f3648067f97aba498
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.53374, -0.692868, -0.515183], "max": [0.589703, 0.888965, 0.507646]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42452/images/texture_0.jpg b/data/PartNet-Mobility/Chair/42452/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3c653d034d862ceb84a1df1dab2441205514009a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa9928e129524c59e4ea526cd236f8047a2ce008043fbe4c5a344ca340b9d316
+size 11680
diff --git a/data/PartNet-Mobility/Chair/42452/meta.json b/data/PartNet-Mobility/Chair/42452/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5755bef72b5ab534521d970fda7a82c18f6b02bf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/meta.json
@@ -0,0 +1 @@
+{"model_id": "bed17aaa6ce899bed810b14a81e12eca", "anno_id": "42452", "user_id": "shape18", "time_in_sec": "729", "version": "6", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42452/mobility.urdf b/data/PartNet-Mobility/Chair/42452/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c3adbcc4db941eef1b9504af55aeaf07821928d6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/mobility.urdf
@@ -0,0 +1,551 @@
+<?xml version="1.0" ?>
+<robot name="partnet_bed17aaa6ce899bed810b14a81e12eca">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="caster_stem-82">
+			<origin xyz="-0.0005261436248168051 0 0.48171014362481684"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0005261436248168051 0 0.48171014362481684"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0005261436248168051 0 -0.48171014362481684"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-83">
+			<origin xyz="-0.035658 0.6419957514838371 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.035658 0.6419957514838371 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0351318563751832 -0.6419957514838371 0.48171014362481684"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="caster_stem-80">
+			<origin xyz="0.5026470000000001 0 0.11613374616878913"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5026470000000001 0 0.11613374616878913"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.5026470000000001 0 -0.11613374616878913"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_2"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-81">
+			<origin xyz="0.46751510947321867 0.6419957658962355 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.46751510947321867 0.6419957658962355 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.035131890526781395 -0.6419957658962355 0.11613374616878913"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_3"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_4">
+		<visual name="caster_stem-78">
+			<origin xyz="0.310452 0 -0.4753818752828054"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.310452 0 -0.4753818752828054"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.310452 0 0.4753818752828054"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-79">
+			<origin xyz="0.2753201094732187 0.6419957658962355 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2753201094732187 0.6419957658962355 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.035131890526781284 -0.6419957658962355 -0.4753818752828054"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_6">
+		<visual name="caster_stem-76">
+			<origin xyz="-0.3115042580529089 0 -0.47538174194709115"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3115042580529089 0 -0.47538174194709115"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.3115042580529089 0 0.47538174194709115"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_6"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-77">
+			<origin xyz="-0.3466361094732187 0.6419957658962355 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3466361094732187 0.6419957658962355 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.035131851420309834 -0.6419957658962355 -0.47538174194709115"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_7"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_8">
+		<visual name="caster_stem-74">
+			<origin xyz="-0.5036992243423192 0 0.11613366056459225"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5036992243423192 0 0.11613366056459225"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.5036992243423192 0 -0.11613366056459225"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_8"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-75">
+			<origin xyz="-0.5388311094732187 0.6419957658962355 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5388311094732187 0.6419957658962355 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.03513188513089949 -0.6419957658962355 0.11613366056459225"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_9"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_10">
+		<visual name="back_soft_surface-59">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_vertical_bar-55">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_vertical_bar-56">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/new-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_horizontal_bar-57">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_horizontal_bar-58">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-51">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-52">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_soft_surface-43">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-44">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-45">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_soft_surface-40">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-41">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-42">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-89">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-85">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-85">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-85">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_frame_vertical_bar-87">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_frame_vertical_bar-88">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-60">
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/new-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/new-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0005253062923504213 0 -0.04735656250737649"/>
+			<geometry>
+				<mesh filename="textured_objs/new-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_10"/>
+		<parent link="link_10_helper"/>
+	</joint>
+	<link name="link_11">
+		<visual name="central_support-61">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-62">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-64">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-65">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-66">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-67">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-68">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_11"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_10_helper"/>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="0.0005253062923504213 0 0.04735656250737649"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_10_helper"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.07600000000000007"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/42452/mobility_v2.json b/data/PartNet-Mobility/Chair/42452/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee1e27425dee0b019bab319ea9750642809e2b26
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/mobility_v2.json
@@ -0,0 +1 @@
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