diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-55.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e63d17c3da0b101b63cb628615659f18ad142447
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-55.obj
@@ -0,0 +1,83 @@
+# SSTK version 0.8.0
+# 55
+mtllib original-55.mtl
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-56.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-56.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-56.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea9e4af0f9fd74957872831e961e2dcd81513a05
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-56.obj
@@ -0,0 +1,83 @@
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-57.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-57.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-57.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cd8fcf17254d5a1e02c4e4e205aeb78d15161a0
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-57.obj
@@ -0,0 +1,567 @@
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+mtllib original-57.mtl
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-58.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-58.mtl
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-58.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e8d06ef8718b8d12d783a5ca231ca6dd641466b
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-58.obj
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-59.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-59.mtl
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-59.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baf339856f0adf3164dd719f7cee41b3ea3fb8dc
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-59.obj
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-6.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-6.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5a464d60dbbaee3f81efa37c27123d03d003d6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-60.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-60.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-60.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d27796de30036fb660fe1025b76612a947dcc80d
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-60.obj
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-63.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-63.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-63.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..927e77c392d741d9dad4edcf89b6243373a6fafa
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-63.obj
@@ -0,0 +1,123 @@
+# SSTK version 0.8.0
+# 63
+mtllib original-63.mtl
+o Group63/mesh97/mesh97-geometry#mesh97-geometry
+v -0.447724 -0.118826 -0.115549
+v -0.408328 -0.123751 -0.115549
+v -0.447724 -0.123751 -0.115549
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-64.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-64.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-64.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fbb5ddffb67010c8877cd95138474db65772899
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-64.obj
@@ -0,0 +1,123 @@
+# SSTK version 0.8.0
+# 64
+mtllib original-64.mtl
+o Group64/mesh99/mesh99-geometry#mesh99-geometry
+v 0.384517 -0.118826 -0.115549
+v 0.423913 -0.123751 -0.115549
+v 0.384517 -0.123751 -0.115549
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+v 0.423913 -0.118826 0.042035
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+v 0.384517 -0.133600 0.042035
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+v 0.423913 -0.133600 -0.115549
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+v 0.384517 -0.128675 0.042035
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-65.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-65.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-65.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6b872566adc348e135a3f4a0765a3038bd74fca
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-65.obj
@@ -0,0 +1,123 @@
+# SSTK version 0.8.0
+# 65
+mtllib original-65.mtl
+o Group65/mesh101/mesh101-geometry#mesh101-geometry
+v -0.041452 -0.118826 -0.115549
+v 0.017642 -0.123751 -0.115549
+v -0.041452 -0.123751 -0.115549
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+v 0.017642 -0.118826 0.042035
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-67.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-67.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-67.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26ccd2b0653e64adb1d8fe0abe378a07f94e30fe
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-67.obj
@@ -0,0 +1,123 @@
+# SSTK version 0.8.0
+# 67
+mtllib original-67.mtl
+o Group67/mesh103/mesh103-geometry#mesh103-geometry
+v -0.447724 -0.020336 -0.115549
+v -0.408328 -0.025261 -0.115549
+v -0.447724 -0.025261 -0.115549
+v -0.408328 -0.020336 -0.115549
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-68.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-68.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-68.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59c003466101c9340c9eac261a5036785493ea80
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-68.obj
@@ -0,0 +1,123 @@
+# SSTK version 0.8.0
+# 68
+mtllib original-68.mtl
+o Group68/mesh105/mesh105-geometry#mesh105-geometry
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-69.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-69.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-69.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ac6c653489cfafa3c015dd07c3d0b26dad71523
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-69.obj
@@ -0,0 +1,123 @@
+# SSTK version 0.8.0
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+mtllib original-69.mtl
+o Group69/mesh107/mesh107-geometry#mesh107-geometry
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-7.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-7.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e43b7809aa5d3f15d55fd262da78720da29efbd1
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-7.obj
@@ -0,0 +1,327 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-70.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-70.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-70.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1f9c3c9ae772ec5f753d0301ad159010d5fee7b
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-70.obj
@@ -0,0 +1,123 @@
+# SSTK version 0.8.0
+# 70
+mtllib original-70.mtl
+o Group70/mesh109/mesh109-geometry#mesh109-geometry
+v -0.041452 -0.020336 -0.115549
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-71.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-71.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+
diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-71.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4446f2c89e8fc5d630f5a0c54a4c7c1bde5ab478
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-71.obj
@@ -0,0 +1,123 @@
+# SSTK version 0.8.0
+# 71
+mtllib original-71.mtl
+o Group71/mesh111/mesh111-geometry#mesh111-geometry
+v 0.176457 -0.020336 -0.115549
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-75.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-75.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-75.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b06dd5d72508dd875eeb17afe74382e1ac905f5
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-75.obj
@@ -0,0 +1,2277 @@
+# SSTK version 0.8.0
+# 75
+mtllib original-75.mtl
+o Group75/mesh113/mesh113-geometry#mesh113-geometry
+v 0.012102 0.188955 -0.223888
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-76.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-76.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-76.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b803212529f298e88cb9366de5327c361a6ed5e
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-76.obj
@@ -0,0 +1,1737 @@
+# SSTK version 0.8.0
+# 76
+mtllib original-76.mtl
+o Group76/mesh127/mesh127-geometry#mesh127-geometry
+v 0.017474 0.211375 -0.228823
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-78.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-78.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-78.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-78.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db52a8251858cd6fe1e2d3e3ce17722e731ef7a0
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-78.obj
@@ -0,0 +1,2277 @@
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-79.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-79.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-79.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-79.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e4a8c4c6b324c39b4a6de98d133de5054a235ef
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-79.obj
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-81.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-81.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-81.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b4c0004a28311c529967a2740e4a3fc3937ee54
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-81.obj
@@ -0,0 +1,2277 @@
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-82.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-82.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-82.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1d95574e408e1b2223caacd68ec2598dc2a6381
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-82.obj
@@ -0,0 +1,1737 @@
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-85.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-85.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-85.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb96db86e80032ca03d184f835de5422c44b01b8
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-85.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-86.mtl
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-86.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a9aeabb3f29b6c3629f178c1ad6703d66d3e93c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-87.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-87.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-87.mtl
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-87.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b97a37bafbd1981a3206071e393e81306d60c19
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-87.obj
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-88.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-88.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-88.mtl
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-88.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b7079d5079d55a54aa5b6e5e901dd1d7c51250f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-88.obj
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-90.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-90.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-90.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-90.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..186e641c5a98d103dc83a6208842b58b24ee9763
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-90.obj
@@ -0,0 +1,243 @@
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+# 90
+mtllib original-90.mtl
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-91.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-91.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-91.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/Box/100141/textured_objs/original-91.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1c7a505fd95ae502f9f42b0e30383ec30c6d513
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-91.obj
@@ -0,0 +1,143 @@
+# SSTK version 0.8.0
+# 91
+mtllib original-91.mtl
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-92.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-92.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-92.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-92.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0ce3571ec24fa072892c7465743334206cfb7fd
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-92.obj
@@ -0,0 +1,479 @@
+# SSTK version 0.8.0
+# 92
+mtllib original-92.mtl
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-93.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-93.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-93.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dae3de20ac76937bea0e4a6cf0594de192f6baa
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-94.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-94.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-94.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-94.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b46f158f165b0441fc5902dacfc575a3cd376a87
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-94.obj
@@ -0,0 +1,123 @@
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-98.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-98.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-98.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-98.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..170f5aca3f9373564f2cb56f8756d0516ec4ab18
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-98.obj
@@ -0,0 +1,243 @@
+# SSTK version 0.8.0
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+mtllib original-98.mtl
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-99.mtl b/data/PartNet-Mobility/Box/100141/textured_objs/original-99.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-99.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100141/textured_objs/original-99.obj b/data/PartNet-Mobility/Box/100141/textured_objs/original-99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e582286971e0c19c26553850ff5df1ead6d6c77
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100141/textured_objs/original-99.obj
@@ -0,0 +1,243 @@
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diff --git a/data/PartNet-Mobility/Box/100154/bounding_box.json b/data/PartNet-Mobility/Box/100154/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..6be808a12fd4c8c4021d533482a5cb759533a02b
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.884532, -0.557302, -0.881895], "max": [0.917451, 0.497504, 0.920093]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100154/meta.json b/data/PartNet-Mobility/Box/100154/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59103fd2d1ff217a3e661746e930f3fb314be548
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "Box", "model_id": "33b1e78a6d49c2d67aa983983f9bf36", "version": "3", "anno_id": "154", "time_in_sec": "43"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100154/mobility.urdf b/data/PartNet-Mobility/Box/100154/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a69b13f51d49bc0a5cd0e2c8bb2afb8c7e8d9873
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/mobility.urdf
@@ -0,0 +1,167 @@
+<?xml version="1.0" ?>
+<robot name="partnet_33b1e78a6d49c2d67aa983983f9bf36">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.5415320000000001 -0.4928149999999997 -0.12047512562448892"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5415320000000001 -0.4928149999999997 -0.12047512562448892"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.5415320000000001 0.4928149999999997 0.12047512562448892"/>
+		<axis xyz="0 0 -0.7071058291548576"/>
+		<child link="link_0"/>
+		<parent link="link_4"/>
+		<limit lower="-3.9269908169872414" upper="0.7853981633974483"/>
+	</joint>
+	<link name="link_1">
+		<visual name="rotation_lid-2">
+			<origin xyz="-0.2666913885462854 -0.4928920002488574 -0.5441690000000003"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2666913885462854 -0.4928920002488574 -0.5441690000000003"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.2666913885462854 0.4928920002488574 0.5441690000000003"/>
+		<axis xyz="0.7071056385289832 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+		<limit lower="-3.9269908169872414" upper="0.7853981633974483"/>
+	</joint>
+	<link name="link_2">
+		<visual name="rotation_lid-3">
+			<origin xyz="0.508651 -0.4929150000000001 -0.3247957845519003"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.508651 -0.4929150000000001 -0.3247957845519003"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="-0.508651 0.4929150000000001 0.3247957845519003"/>
+		<axis xyz="0 5.0332671997356735e-17 0.7071067811865475"/>
+		<child link="link_2"/>
+		<parent link="link_4"/>
+		<limit lower="-3.9269908169872414" upper="0.7853981633974483"/>
+	</joint>
+	<link name="link_3">
+		<visual name="rotation_lid-4">
+			<origin xyz="-0.17643536657736947 -0.492881 0.506014"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.17643536657736947 -0.492881 0.506014"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="revolute">
+		<origin xyz="0.17643536657736947 0.492881 -0.506014"/>
+		<axis xyz="-0.7071079237204103 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+		<limit lower="-3.9269908169872414" upper="0.7853981633974483"/>
+	</joint>
+	<link name="link_4">
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Box/100154/mobility_v2.json b/data/PartNet-Mobility/Box/100154/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfbe4b617a2598a8bb76527f31d8d735cc9ba26a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":4,"joint":"hinge","name":"rotation_lid","parts":[{"id":1,"name":"rotation_lid"}],"jointData":{"axis":{"origin":[0.5415320000000001,0.4928149999999997,0.12047512562448892],"direction":[0,0,-0.7071058291548576]},"limit":{"a":-225,"b":45,"noLimit":false}}},{"id":1,"parent":4,"joint":"hinge","name":"rotation_lid","parts":[{"id":2,"name":"rotation_lid"}],"jointData":{"axis":{"origin":[0.2666913885462854,0.4928920002488574,0.5441690000000003],"direction":[0.7071056385289832,0,0]},"limit":{"a":-225,"b":45,"noLimit":false}}},{"id":2,"parent":4,"joint":"hinge","name":"rotation_lid","parts":[{"id":3,"name":"rotation_lid"}],"jointData":{"axis":{"origin":[-0.508651,0.4929150000000001,0.3247957845519003],"direction":[0,-5.0332671997356735e-17,-0.7071067811865475]},"limit":{"a":225,"b":-45,"noLimit":false}}},{"id":3,"parent":4,"joint":"hinge","name":"rotation_lid","parts":[{"id":4,"name":"rotation_lid"}],"jointData":{"axis":{"origin":[0.17643536657736947,0.492881,-0.506014],"direction":[0.7071079237204103,0,0]},"limit":{"a":225,"b":-45,"noLimit":false}}},{"id":4,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":5,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100154/result.json b/data/PartNet-Mobility/Box/100154/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c310df393ab88f43b66d96a78e41443d3ee0c5b2
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/result.json
@@ -0,0 +1 @@
+[{"text": "Box", "name": "Box", "id": 0, "children": [{"text": "rotation_lid", "name": "rotation_lid", "id": 1, "objs": ["original-8"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 2, "objs": ["original-2"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 3, "objs": ["original-7"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 4, "objs": ["original-1"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-4", "original-3", "original-9", "original-5", "original-6", "original-10"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100154/result_original.json b/data/PartNet-Mobility/Box/100154/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e85afb048d3c415c39cc95c0e9f270915fc0462
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Box", "text": "Box", "children": [{"id": 1, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-8"]}, {"id": 2, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-2"]}, {"id": 3, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-7"]}, {"id": 4, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100154/semantics.txt b/data/PartNet-Mobility/Box/100154/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc7847f81fca1455abbf4292ad77a1e480cd536f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge rotation_lid
+link_1 hinge rotation_lid
+link_2 hinge rotation_lid
+link_3 hinge rotation_lid
+link_4 free box_body
diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-1.mtl b/data/PartNet-Mobility/Box/100154/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..550f95899350b5c7c251388f23d4d0a24c78df3f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-1.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.7764705882352941 0.6313725490196078 0.4470588235294118 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 0.6313725490196078 0.5215686274509804 0.3764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-1.obj b/data/PartNet-Mobility/Box/100154/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3430dd33a3878663004c5a363856bae6c0405dff
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-1.obj
@@ -0,0 +1,77 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Box_Top1/Box_Top/mesh1/mesh1-geometry#mesh1-geometry
+v 0.541532 0.121552 -0.877343
+v 0.541532 0.497471 -0.510527
+v 0.541532 0.126103 -0.881895
+v 0.541532 0.183435 -0.815461
+v -0.508651 0.497471 -0.510527
+v -0.508651 0.121552 -0.877343
+v 0.541532 0.492881 -0.506014
+v -0.508651 0.126103 -0.881895
+v -0.508651 0.492915 -0.505971
+v 0.103955 0.183435 -0.815461
+v 0.541532 0.492915 -0.505971
+v -0.508651 0.492848 -0.506047
+v -0.071075 0.183435 -0.815461
+v 0.103955 0.492848 -0.506047
+v -0.508651 0.183435 -0.815461
+v -0.071075 0.492848 -0.506047
+vn -1 0 0
+vn 0 -0.7071067811865476 0.7071067811865476
+vn 0 0.7071067811865476 0.7071067811865476
+vn 0 0.7071067811865476 -0.7071067811865476
+vn 0 -0.7071067811865476 -0.7071067811865476
+vn 1 0 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 3//2 2//2
+f 3//3 6//3 1//3
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+f 2//1 4//1 7//1
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+f 2//5 9//5 5//5
+f 6//3 3//3 8//3
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+f 2//1 7//1 11//1
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+f 16//4 15//4 12//4
+f 15//4 16//4 13//4
+f 16//4 14//4 13//4
+usemtl material_1_0
+f 3//6 2//6 1//6
+f 4//6 1//6 2//6
+f 2//4 3//4 5//4
+f 1//5 6//5 3//5
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+f 11//3 2//3 9//3
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+f 14//2 10//2 7//2
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diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-10.mtl b/data/PartNet-Mobility/Box/100154/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..550f95899350b5c7c251388f23d4d0a24c78df3f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-10.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-10.obj b/data/PartNet-Mobility/Box/100154/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae9ce0ea67115c0888b4f6bfdbe73a0af5c88e51
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-10.obj
@@ -0,0 +1,180 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-2.mtl b/data/PartNet-Mobility/Box/100154/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..550f95899350b5c7c251388f23d4d0a24c78df3f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-2.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
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+newmtl material_1_0
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+newmtl material_2_0
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diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-2.obj b/data/PartNet-Mobility/Box/100154/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8280d1eb83ec1c8c35b318a1ebb22104d0298b1b
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-2.obj
@@ -0,0 +1,77 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-3.mtl b/data/PartNet-Mobility/Box/100154/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7fbb1101884ba8aa0819667bb63cc7aea18f3f7
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-3.mtl
@@ -0,0 +1,28 @@
+newmtl material_0_0
+illum 3
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+newmtl material_1_0
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+
+newmtl material_2_0
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+newmtl material_3_0
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+
diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-3.obj b/data/PartNet-Mobility/Box/100154/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..875834a181edc9c3bddec6cd20c1ac8a15cfe142
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-3.obj
@@ -0,0 +1,1924 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-4.mtl b/data/PartNet-Mobility/Box/100154/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7fbb1101884ba8aa0819667bb63cc7aea18f3f7
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-4.mtl
@@ -0,0 +1,28 @@
+newmtl material_0_0
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-4.obj b/data/PartNet-Mobility/Box/100154/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c26ba569e0e879ecbcc912ddc7fc63906a028af
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-4.obj
@@ -0,0 +1,1924 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-5.mtl b/data/PartNet-Mobility/Box/100154/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7fbb1101884ba8aa0819667bb63cc7aea18f3f7
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-5.mtl
@@ -0,0 +1,28 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-5.obj b/data/PartNet-Mobility/Box/100154/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8ec17c8836785ea8218dccbee01c5afb693f97f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-5.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-6.mtl b/data/PartNet-Mobility/Box/100154/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7fbb1101884ba8aa0819667bb63cc7aea18f3f7
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-6.mtl
@@ -0,0 +1,28 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7764705882352941 0.6313725490196078 0.4470588235294118 
+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 
+
+newmtl material_2_0
+illum 3
+d 1
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+Kd 0.34901960784313724 0.2823529411764706 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_3_0
+illum 3
+d 1
+Ns 30
+Kd 0.6313725490196078 0.5215686274509804 0.3764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-6.obj b/data/PartNet-Mobility/Box/100154/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec91b93aacc312aa7d112a3d5c1c8be01ecd1638
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-6.obj
@@ -0,0 +1,1924 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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+f 316//2 332//2 301//2
+f 282//1 334//1 317//1
+f 317//2 334//2 282//2
+f 316//1 335//1 303//1
+f 303//2 335//2 316//2
+f 303//1 337//1 318//1
+f 318//2 337//2 303//2
+f 285//1 319//1 338//1
+f 338//2 319//2 285//2
+f 320//1 340//1 304//1
+f 304//2 340//2 320//2
+f 304//1 322//1 305//1
+f 305//2 322//2 304//2
+f 305//1 322//1 307//1
+f 307//2 322//2 305//2
+f 323//1 306//1 321//1
+f 321//2 306//2 323//2
+f 293//1 342//1 324//1
+f 324//2 342//2 293//2
+f 333//1 325//1 310//1
+f 310//2 325//2 333//2
+f 333//1 310//1 302//1
+f 302//2 310//2 333//2
+f 326//1 345//1 311//1
+f 311//2 345//2 326//2
+f 328//1 295//1 327//1
+f 327//2 295//2 328//2
+f 314//1 329//1 347//1
+f 347//2 329//2 314//2
+f 316//1 332//1 335//1
+f 335//2 332//2 316//2
+f 282//1 349//1 334//1
+f 334//2 349//2 282//2
+f 303//1 335//1 337//1
+f 337//2 335//2 303//2
+f 336//1 349//1 282//1
+f 282//2 349//2 336//2
+f 339//1 351//1 320//1
+f 320//2 351//2 339//2
+f 320//1 351//1 340//1
+f 340//2 351//2 320//2
+f 304//1 340//1 322//1
+f 322//2 340//2 304//2
+f 353//1 342//1 293//1
+f 293//2 342//2 353//2
+f 355//1 343//1 325//1
+f 325//2 343//2 355//2
+f 355//1 325//1 333//1
+f 333//2 325//2 355//2
+f 357//1 326//1 344//1
+f 344//2 326//2 357//2
+f 345//1 326//1 357//1
+f 357//2 326//2 345//2
+f 348//1 327//1 346//1
+f 346//2 327//2 348//2
+f 328//1 327//1 348//1
+f 348//2 327//2 328//2
+f 314//1 347//1 358//1
+f 358//2 347//2 314//2
+f 336//1 365//1 349//1
+f 349//2 365//2 336//2
+f 350//1 341//1 339//1
+f 339//2 341//2 350//2
+f 339//1 341//1 351//1
+f 351//2 341//2 339//2
+f 353//1 352//1 342//1
+f 342//2 352//2 353//2
+f 363//1 354//1 343//1
+f 343//2 354//2 363//2
+f 363//1 343//1 355//1
+f 355//2 343//2 363//2
+f 357//1 344//1 371//1
+f 371//2 344//2 357//2
+f 348//1 346//1 372//1
+f 372//2 346//2 348//2
+f 359//1 374//1 330//1
+f 330//2 374//2 359//2
+f 360//1 361//1 331//1
+f 331//2 361//2 360//2
+f 364//1 365//1 336//1
+f 336//2 365//2 364//2
+f 341//1 350//1 366//1
+f 366//2 350//2 341//2
+f 379//1 367//1 352//1
+f 352//2 367//2 379//2
+f 379//1 352//1 353//1
+f 353//2 352//2 379//2
+f 354//1 377//1 368//1
+f 368//2 377//2 354//2
+f 377//1 354//1 363//1
+f 363//2 354//2 377//2
+f 369//1 380//1 356//1
+f 356//2 380//2 369//2
+f 371//1 344//1 370//1
+f 370//2 344//2 371//2
+f 373//1 381//1 359//1
+f 359//2 381//2 373//2
+f 359//1 381//1 374//1
+f 374//2 381//2 359//2
+f 330//1 374//1 382//1
+f 382//2 374//2 330//2
+f 362//1 360//1 375//1
+f 375//2 360//2 362//2
+f 361//1 360//1 362//1
+f 362//2 360//2 361//2
+f 362//1 375//1 376//1
+f 376//2 375//2 362//2
+f 376//1 383//1 364//1
+f 364//2 383//2 376//2
+f 364//1 383//1 365//1
+f 365//2 383//2 364//2
+f 384//1 378//1 367//1
+f 367//2 378//2 384//2
+f 384//1 367//1 379//1
+f 379//2 367//2 384//2
+f 386//1 369//1 378//1
+f 378//2 369//2 386//2
+f 380//1 369//1 386//1
+f 386//2 369//2 380//2
+f 373//1 370//1 381//1
+f 381//2 370//2 373//2
+f 371//1 370//1 373//1
+f 373//2 370//2 371//2
+f 330//1 382//1 385//1
+f 385//2 382//2 330//2
+f 376//1 375//1 383//1
+f 383//2 375//2 376//2
+f 386//1 378//1 384//1
+f 384//2 378//2 386//2
+usemtl material_3_0
+f 121//1 143//1 97//1
+f 97//2 143//2 121//2
+f 143//1 121//1 160//1
+f 160//2 121//2 143//2
diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-7.mtl b/data/PartNet-Mobility/Box/100154/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9d06307bbcb505757078c9fd796de858e40906a0
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-7.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.7764705882352941 0.6313725490196078 0.4470588235294118 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-7.obj b/data/PartNet-Mobility/Box/100154/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de6a7ac9e88527b92439fb48f3a202bda5f09f4d
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-7.obj
@@ -0,0 +1,50 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o Box_Top_1_1/Box_Top_1/mesh5/mesh5-geometry#mesh5-geometry
+v -0.879981 0.121585 -0.505971
+v -0.513165 0.497504 -0.505971
+v -0.884532 0.126137 -0.505971
+v -0.508651 0.492915 -0.505971
+v -0.513165 0.497504 0.544212
+v -0.879981 0.121585 0.544212
+v -0.508608 0.492948 -0.505971
+v -0.508608 0.492948 0.544212
+v -0.884532 0.126137 0.544212
+v -0.508685 0.492881 0.544212
+vn 0 0 1
+vn 0.7071067811865476 -0.7071067811865476 0
+vn 0.7071067811865476 0.7071067811865476 0
+vn -0.7071067811865476 0.7071067811865476 0
+vn -0.7071067811865476 -0.7071067811865476 0
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 3//2 2//2
+f 3//3 6//3 1//3
+f 6//4 4//4 1//4
+f 2//1 4//1 7//1
+f 8//5 2//5 7//5
+f 3//2 5//2 9//2
+f 2//5 8//5 5//5
+f 6//3 3//3 9//3
+f 4//4 6//4 10//4
+f 5//6 6//6 9//6
+f 10//6 5//6 8//6
+f 6//6 5//6 10//6
+usemtl material_1_0
+f 3//6 2//6 1//6
+f 4//6 1//6 2//6
+f 2//4 3//4 5//4
+f 1//5 6//5 3//5
+f 1//2 4//2 6//2
+f 7//6 4//6 2//6
+f 7//3 2//3 8//3
+f 9//4 5//4 3//4
+f 5//3 8//3 2//3
+f 9//5 3//5 6//5
+f 10//2 6//2 4//2
+f 9//1 6//1 5//1
+f 8//1 5//1 10//1
+f 10//1 5//1 6//1
diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-8.mtl b/data/PartNet-Mobility/Box/100154/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9d06307bbcb505757078c9fd796de858e40906a0
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-8.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.7764705882352941 0.6313725490196078 0.4470588235294118 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-8.obj b/data/PartNet-Mobility/Box/100154/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fe7e6f2ee8f7c25c8e9014a68338cb4fb0ad41f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-8.obj
@@ -0,0 +1,50 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o Box_Top_1_2/Box_Top_1/mesh5/mesh5-geometry#mesh5-geometry
+v 0.917451 0.125998 -0.505937
+v 0.541532 0.492815 -0.505937
+v 0.912899 0.121447 -0.505937
+v 0.546121 0.497328 -0.505937
+v 0.541532 0.492815 0.544246
+v 0.917451 0.125998 0.544246
+v 0.546088 0.497371 -0.505937
+v 0.546088 0.497371 0.544246
+v 0.912899 0.121447 0.544246
+v 0.546155 0.497294 0.544246
+vn 0 0 1
+vn 0.7071067811865478 0.7071067811865476 0
+vn -0.7071067811865476 0.7071067811865478 0
+vn -0.7071067811865478 -0.7071067811865476 0
+vn 0.7071067811865476 -0.7071067811865478 0
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 3//2 2//2
+f 3//3 6//3 1//3
+f 6//4 4//4 1//4
+f 2//1 4//1 7//1
+f 8//5 2//5 7//5
+f 3//2 5//2 9//2
+f 2//5 8//5 5//5
+f 6//3 3//3 9//3
+f 4//4 6//4 10//4
+f 5//6 6//6 9//6
+f 10//6 5//6 8//6
+f 6//6 5//6 10//6
+usemtl material_1_0
+f 3//6 2//6 1//6
+f 4//6 1//6 2//6
+f 2//4 3//4 5//4
+f 1//5 6//5 3//5
+f 1//2 4//2 6//2
+f 7//6 4//6 2//6
+f 7//3 2//3 8//3
+f 9//4 5//4 3//4
+f 5//3 8//3 2//3
+f 9//5 3//5 6//5
+f 10//2 6//2 4//2
+f 9//1 6//1 5//1
+f 8//1 5//1 10//1
+f 10//1 5//1 6//1
diff --git a/data/PartNet-Mobility/Box/100154/textured_objs/original-9.mtl b/data/PartNet-Mobility/Box/100154/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3fc1b9c20dc29abcc71004ded7b81ad2b77e4fa1
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-9.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7764705882352941 0.6313725490196078 0.4470588235294118 
+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/Box/100154/textured_objs/original-9.obj b/data/PartNet-Mobility/Box/100154/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da6c5c4ee24ee100762bb6f92c0e5857f5647c4e
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100154/textured_objs/original-9.obj
@@ -0,0 +1,28 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o mesh6/mesh6-geometry#mesh6-geometry
+v -0.508651 -0.557302 0.016343
+v 0.541532 -0.557302 0.021813
+v -0.508651 -0.557302 0.021813
+v 0.541532 -0.557302 0.016343
+v -0.508651 -0.557302 0.544169
+v -0.508651 -0.557302 -0.506014
+v 0.541532 -0.557302 0.544169
+v 0.541532 -0.557302 -0.506014
+vn 0 -1 0
+vn 0 1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 2//1 5//1 3//1
+f 3//2 5//2 2//2
+f 6//1 4//1 1//1
+f 5//1 2//1 7//1
+f 7//2 2//2 5//2
+f 4//1 6//1 8//1
+usemtl material_1_0
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 1//2 4//2 6//2
+f 8//2 6//2 4//2
diff --git a/data/PartNet-Mobility/Box/100162/bounding_box.json b/data/PartNet-Mobility/Box/100162/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fdf9387f81ec2b8c8ccc9932d9936f9cee505b8
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.814811, -0.442475, -0.794184], "max": [0.768115, 0.50353, 0.788742]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100162/meta.json b/data/PartNet-Mobility/Box/100162/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..239da9854404437f1a16e1038662ac91f0b42289
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "Box", "model_id": "3abe53cf05d6a45e9f6511f1884e2d17", "version": "1", "anno_id": "162", "time_in_sec": "13"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100162/mobility.urdf b/data/PartNet-Mobility/Box/100162/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c663efc75ca833951a96706e4721f6d057d17dc1
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/mobility.urdf
@@ -0,0 +1,107 @@
+<?xml version="1.0" ?>
+<robot name="partnet_3abe53cf05d6a45e9f6511f1884e2d17">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.22824362703686685 -0.17569499999999952 0.4663489999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.22824362703686685 -0.17569499999999952 0.4663489999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.22824362703686685 0.17569499999999952 -0.4663489999999999"/>
+		<axis xyz="-0.7071067811865474 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_4"/>
+		<limit lower="-2.356194490192345" upper="2.356194490192345"/>
+	</joint>
+	<link name="link_1">
+		<visual name="rotation_lid-2">
+			<origin xyz="0.48697599999999985 -0.17569499999999982 -0.02633372691437219"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.48697599999999985 -0.17569499999999982 -0.02633372691437219"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.48697599999999985 0.17569499999999982 0.02633372691437219"/>
+		<axis xyz="0 0 0.7071067811865474"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+		<limit lower="-2.356194490192345" upper="2.356194490192345"/>
+	</joint>
+	<link name="link_2">
+		<visual name="rotation_lid-3">
+			<origin xyz="0.0579459683125112 -0.17569499999999966 -0.46090699999999996"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0579459683125112 -0.17569499999999966 -0.46090699999999996"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="-0.0579459683125112 0.17569499999999966 0.46090699999999996"/>
+		<axis xyz="0.7071067811865476 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_4"/>
+		<limit lower="-2.356194490192345" upper="2.356194490192345"/>
+	</joint>
+	<link name="link_3">
+		<visual name="rotation_lid-4">
+			<origin xyz="-0.44028 -0.17569500000000024 -0.09461069595392668"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.44028 -0.17569500000000024 -0.09461069595392668"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="revolute">
+		<origin xyz="0.44028 0.17569500000000024 0.09461069595392668"/>
+		<axis xyz="0 0 -0.7071067811865475"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+		<limit lower="-2.3436281195779856" upper="2.356194490192345"/>
+	</joint>
+	<link name="link_4">
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Box/100162/mobility_v2.json b/data/PartNet-Mobility/Box/100162/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ef0911b6a17c8839cff29f594ef6b25b39f617f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 4, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 1, "name": "rotation_lid", "children": []}], "jointData": {"axis": {"origin": [0.22824362703686685, 0.17569499999999952, -0.4663489999999999], "direction": [0.7071067811865474, 0, 0]}, "limit": {"a": -225, "b": -495, "noLimit": false}}}, {"id": 1, "parent": 4, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 2, "name": "rotation_lid", "children": []}], "jointData": {"axis": {"origin": [-0.48697599999999985, 0.17569499999999982, 0.02633372691437219], "direction": [0, 0, 0.7071067811865474]}, "limit": {"a": -495, "b": -225, "noLimit": false}}}, {"id": 2, "parent": 4, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 3, "name": "rotation_lid", "children": []}], "jointData": {"axis": {"origin": [-0.0579459683125112, 0.17569499999999966, 0.46090699999999996], "direction": [0.7071067811865476, 0, 0]}, "limit": {"a": -495, "b": -225, "noLimit": false}}}, {"id": 3, "parent": 4, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 4, "name": "rotation_lid", "children": []}], "jointData": {"axis": {"origin": [0.44028, 0.17569500000000024, 0.09461069595392668], "direction": [0, 0, 0.7071067811865475]}, "limit": {"a": -225.72, "b": -495, "noLimit": false}}}, {"id": 4, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100162/result.json b/data/PartNet-Mobility/Box/100162/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..e01716b8134e1554828c149b43c5ace6a7291392
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/result.json
@@ -0,0 +1 @@
+[{"text": "Box", "name": "Box", "id": 0, "children": [{"text": "rotation_lid", "name": "rotation_lid", "id": 1, "objs": ["original-2"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 2, "objs": ["original-5"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 3, "objs": ["original-4"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 4, "objs": ["original-3"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100162/result_original.json b/data/PartNet-Mobility/Box/100162/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..397673d8a29ae0c1fedf04c7cff8103862eaca32
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Box", "text": "Box", "children": [{"id": 1, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-2"]}, {"id": 2, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-5"]}, {"id": 3, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-4"]}, {"id": 4, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-3"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100162/semantics.txt b/data/PartNet-Mobility/Box/100162/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc7847f81fca1455abbf4292ad77a1e480cd536f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge rotation_lid
+link_1 hinge rotation_lid
+link_2 hinge rotation_lid
+link_3 hinge rotation_lid
+link_4 free box_body
diff --git a/data/PartNet-Mobility/Box/100162/textured_objs/original-1.mtl b/data/PartNet-Mobility/Box/100162/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f64b7934ee2d62cd5b816eb2bd4f4d5bac7b8cd6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.6392156862745098 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100162/textured_objs/original-1.obj b/data/PartNet-Mobility/Box/100162/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fab929e7ae43e86de9c1b002217d200d4a25ae3
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/textured_objs/original-1.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o boxyBottom1/boxyBottom/mesh1/mesh1-geometry#mesh1-geometry
+v 0.440280 -0.442475 -0.466349
+v -0.486976 -0.442475 0.460907
+v -0.486976 -0.442475 -0.466349
+v 0.440280 -0.442475 0.460907
+v -0.486976 0.175695 -0.466349
+v 0.440280 0.175695 0.460907
+v -0.486976 0.175695 0.460907
+v 0.440280 0.175695 -0.466349
+vn 0 -1 0
+vn 0 1 0
+vn -1 0 0
+vn 1 0 0
+vn 0 0 -1
+vn 0 0 1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 5//5 1//5 3//5
+f 3//6 1//6 5//6
+f 1//4 6//4 4//4
+f 4//3 6//3 1//3
+f 6//6 2//6 4//6
+f 4//5 2//5 6//5
+f 5//3 2//3 7//3
+f 7//4 2//4 5//4
+f 1//5 5//5 8//5
+f 8//6 5//6 1//6
+f 6//4 1//4 8//4
+f 8//3 1//3 6//3
+f 2//6 6//6 7//6
+f 7//5 6//5 2//5
diff --git a/data/PartNet-Mobility/Box/100162/textured_objs/original-2.mtl b/data/PartNet-Mobility/Box/100162/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f64b7934ee2d62cd5b816eb2bd4f4d5bac7b8cd6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.6392156862745098 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100162/textured_objs/original-2.obj b/data/PartNet-Mobility/Box/100162/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dc9cafaf73d710803acf197ef73007cef820b38
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/textured_objs/original-2.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o flappyOne1/flappyOne/mesh3/mesh3-geometry#mesh3-geometry
+v 0.430622 0.503530 -0.794184
+v -0.477317 0.175695 -0.466349
+v -0.477317 0.503530 -0.794184
+v 0.430622 0.175695 -0.466349
+vn 0 -0.7071067811865472 -0.707106781186548
+vn 0 0.7071067811865472 0.707106781186548
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100162/textured_objs/original-3.mtl b/data/PartNet-Mobility/Box/100162/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f64b7934ee2d62cd5b816eb2bd4f4d5bac7b8cd6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.6392156862745098 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100162/textured_objs/original-3.obj b/data/PartNet-Mobility/Box/100162/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a739652cd534fa808e9c0651a629b56830cbfd7e
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/textured_objs/original-3.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o flappyTwo1/flappyTwo/mesh4/mesh4-geometry#mesh4-geometry
+v 0.768115 0.503530 -0.466349
+v 0.440280 0.175695 0.460907
+v 0.440280 0.175695 -0.466349
+v 0.768115 0.503530 0.460907
+vn 0.7071067811865478 -0.7071067811865472 0
+vn -0.7071067811865478 0.7071067811865472 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100162/textured_objs/original-4.mtl b/data/PartNet-Mobility/Box/100162/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f64b7934ee2d62cd5b816eb2bd4f4d5bac7b8cd6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.6392156862745098 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100162/textured_objs/original-4.obj b/data/PartNet-Mobility/Box/100162/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8545d36f839fb844d27ecd09eb38be2d15b24c43
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/textured_objs/original-4.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o flappyOne2/flappyOne/mesh3/mesh3-geometry#mesh3-geometry
+v 0.430622 0.503530 0.788742
+v -0.477317 0.175695 0.460907
+v -0.477317 0.503530 0.788742
+v 0.430622 0.175695 0.460907
+vn 0 0.7071067811865476 -0.7071067811865476
+vn 0 -0.7071067811865476 0.7071067811865476
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100162/textured_objs/original-5.mtl b/data/PartNet-Mobility/Box/100162/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f64b7934ee2d62cd5b816eb2bd4f4d5bac7b8cd6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.6392156862745098 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100162/textured_objs/original-5.obj b/data/PartNet-Mobility/Box/100162/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf6ad4c670baba2a17aa389eab10ed9d6ec8c2a9
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100162/textured_objs/original-5.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o flappyTwo2/flappyTwo/mesh4/mesh4-geometry#mesh4-geometry
+v -0.814811 0.503530 -0.466349
+v -0.486976 0.175695 0.460907
+v -0.486976 0.175695 -0.466349
+v -0.814811 0.503530 0.460907
+vn 0.7071067811865476 0.7071067811865474 0
+vn -0.7071067811865476 -0.7071067811865474 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100174/bounding_box.json b/data/PartNet-Mobility/Box/100174/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..de00b9178a0c169b9629616735aed1c7d6bcb8e6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.798823, -0.515461, -0.42831], "max": [0.845278, 0.62747, 0.444252]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100174/images/texture_0.jpg b/data/PartNet-Mobility/Box/100174/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b1b393dc1069c883ae4133cb20e472bdc6bb9707
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5680257d74e48620b171727e57343bd89aa33e31b4f16ab584572bf44b7dbd6
+size 189873
diff --git a/data/PartNet-Mobility/Box/100174/images/texture_1.jpg b/data/PartNet-Mobility/Box/100174/images/texture_1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ef16f121bee5b36191b9d8760115af812b000d03
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5b55d4f3496602b645d1f9d2f1debafc54ec4b27dfa2555890ddbee5219ffc5
+size 7101
diff --git a/data/PartNet-Mobility/Box/100174/images/texture_2.jpg b/data/PartNet-Mobility/Box/100174/images/texture_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4a143108b68c353ea2d5e3208cde0edb6c69d9d3
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/images/texture_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6050b2569aac5ed85fe04b148af495e84bed922d094c9c62e3b300a5eb296a9
+size 1426
diff --git a/data/PartNet-Mobility/Box/100174/images/texture_3.jpg b/data/PartNet-Mobility/Box/100174/images/texture_3.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..11bd326d8c6182dbbf778b1c3a48980a70cafdbe
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/images/texture_3.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:506178e54356b064f13cf3deb612ae424244222c2e5461fd52e74389ba270441
+size 10260
diff --git a/data/PartNet-Mobility/Box/100174/meta.json b/data/PartNet-Mobility/Box/100174/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c94f9aa14e2d3d60b828134ab2d4597e886bf1c
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "Box", "model_id": "51c09c1d065b2f3ff2792e4b1535c6c3", "version": "3", "anno_id": "174", "time_in_sec": "952"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100174/mobility.urdf b/data/PartNet-Mobility/Box/100174/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..591176ebd2c34fe8ae6fc380876eb50878288ea6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/mobility.urdf
@@ -0,0 +1,1868 @@
+<?xml version="1.0" ?>
+<robot name="partnet_51c09c1d065b2f3ff2792e4b1535c6c3">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-111.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-124.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-134.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-115.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-117.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-118.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-136.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-121.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-131.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-108.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-126.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.8050000000000006 -0.18932587783327975 0.3825673431682228"/>
+			<geometry>
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+		</visual>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<visual name="base_body-5">
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+			<geometry>
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+		<visual name="base_body-5">
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+			</geometry>
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+		<visual name="base_body-5">
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+			</geometry>
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+		</visual>
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+		<visual name="base_body-5">
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+			</geometry>
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+		<collision>
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+			<geometry>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
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+			</geometry>
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+		<collision>
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+		<collision>
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+			</geometry>
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+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
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+		<collision>
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+		<collision>
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+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
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+			</geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
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+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-184.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
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+			<geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<collision>
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+			<geometry>
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+			</geometry>
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+		<collision>
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+		<collision>
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+		<collision>
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+			<geometry>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
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+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
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+		<collision>
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+			<geometry>
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+			</geometry>
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+		<collision>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
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+		<collision>
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+		<collision>
+			<origin xyz="0 0 0"/>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-183.obj"/>
+			</geometry>
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+		<collision>
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+			<geometry>
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+			</geometry>
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+		<collision>
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+			<geometry>
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+			<geometry>
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+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-180.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-157.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-179.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-155.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-176.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-164.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Box/100174/mobility_v2.json b/data/PartNet-Mobility/Box/100174/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..76346d5bac430cd693d4018f03dfc49778b761da
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 3, "name": "rotation_lid", "children": []}], "jointData": {"axis": {"origin": [0.8050000000000006, 0.18932587783327975, -0.3825673431682228], "direction": [1, 0, 0]}, "limit": {"a": -336.6, "b": -515.52, "noLimit": false}}}, {"id": 1, "parent": -1, "joint": "free", "name": "outlier", "parts": [{"id": 4, "name": "outlier", "children": []}, {"id": 5, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100174/result.json b/data/PartNet-Mobility/Box/100174/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..b160d021c821a190ba6d3d78bcbf82f319e081f6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/result.json
@@ -0,0 +1 @@
+[{"text": "Box", "name": "Box", "id": 0, "children": [{"text": "rotation_lid", "name": "rotation_lid", "id": 3, "objs": ["original-96", "original-111", "original-101", "original-124", "original-134", "original-75", "original-80", "original-90", "original-68", "original-115", "original-69", "original-117", "original-118", "original-119", "original-70", "original-136", "original-87", "original-82", "original-77", "original-72", "original-121", "original-131", "original-108", "original-98", "original-126", "original-92", "original-103", "original-106", "original-138", "original-94", "original-105", "original-128", "original-100", "original-110", "original-133", "original-123", "original-74", "original-79", "original-84", "original-85", "original-89", "original-67", "original-66", "original-88", "original-83", "original-78", "original-73", "original-122", "original-132", "original-109", "original-99", "original-129", "original-127", "original-104", "original-95", "original-93", "original-139", "original-137", "original-148", "original-145", "original-150", "original-149", "original-147", "original-146", "original-152", "original-143", "original-142", "original-153", "original-144", "original-151", "original-141", "original-113", "original-114"]}, {"text": "outlier", "name": "outlier", "id": 4, "objs": ["original-135"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-29", "original-21", "original-30", "original-36", "original-169", "original-28", "original-166", "original-43", "original-167", "original-52", "original-22", "original-26", "original-160", "original-4", "original-3", "original-33", "original-44", "original-16", "original-173", "original-13", "original-9", "original-45", "original-172", "original-156", "original-49", "original-184", "original-61", "original-39", "original-5", "original-168", "original-63", "original-185", "original-27", "original-159", "original-51", "original-55", "original-163", "original-50", "original-6", "original-31", "original-37", "original-48", "original-15", "original-177", "original-56", "original-175", "original-62", "original-174", "original-23", "original-158", "original-182", "original-58", "original-11", "original-38", "original-18", "original-161", "original-25", "original-17", "original-181", "original-12", "original-183", "original-171", "original-42", "original-165", "original-24", "original-32", "original-53", "original-7", "original-180", "original-157", "original-179", "original-10", "original-60", "original-19", "original-40", "original-46", "original-155", "original-176", "original-57", "original-164"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100174/result_original.json b/data/PartNet-Mobility/Box/100174/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..111ab476d58451c5bdf803e69f4b5bf2e4d61705
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/result_original.json
@@ -0,0 +1 @@
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diff --git a/data/PartNet-Mobility/Box/100174/semantics.txt b/data/PartNet-Mobility/Box/100174/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dc8403b995024029a518d41eb5f97812ff8e521f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/semantics.txt
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+link_1 free box_body
diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-10.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-10.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f04933a64a1345fe18ddd96857082f26f04681d9
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-100.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-100.mtl
@@ -0,0 +1,16 @@
+newmtl material_0_0
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+map_Kd ../images/texture_1.jpg
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-100.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2d38e3b76e9cf08ad7899217ab4c5094ec00125
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-100.obj
@@ -0,0 +1,1544 @@
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-104.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-104.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-104.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-104.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a13bc50e299bf2f248e1e0d2a6ae90202d1fbd3
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-104.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-105.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-105.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-105.mtl
@@ -0,0 +1,16 @@
+newmtl material_0_0
+illum 3
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
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+newmtl material_1_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/Box/100174/textured_objs/original-105.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6418947b5879e3426ac84323efb4745a1e183a00
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-105.obj
@@ -0,0 +1,1544 @@
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-109.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-109.mtl
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index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-109.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..372cbbe85087798716bbbc06611fbc2b9d52cc86
--- /dev/null
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index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-11.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e50ddb33d3aade32128fab76185e6da8e9696de4
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-111.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-111.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-111.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-111.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5f1552eb843aaa4509d96f22bb272b6771b8589
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-111.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-118.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-118.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-118.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb102df7622cc2d9c68cea29078c19fe5760229f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-122.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-122.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-122.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf1355c82adc8b61a83c175d2df06b8d1d665dcc
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-123.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-123.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-123.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-123.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed3b077df345a0942d351fd87f5e44d49e183a25
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-126.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-126.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-126.mtl
@@ -0,0 +1,16 @@
+newmtl material_0_0
+illum 3
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+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
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+map_Kd ../images/texture_1.jpg
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-126.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8871ebd5750d353a15cd0e4865aa9e5c186ea4a6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-126.obj
@@ -0,0 +1,1544 @@
+# SSTK version 0.8.0
+# 126
+mtllib original-126.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-127.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-127.mtl
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index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-127.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f448d038443d693276a0a5840e59a71d19d615d4
--- /dev/null
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index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-128.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c28ec081f7db1679f5fead0c072b5e857183de8
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-13.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-13.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9503a09c6f42d07d28e92c49a8964f4681e9369
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-131.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-131.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-132.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-132.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-132.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-132.obj
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index 0000000000000000000000000000000000000000..61d2ff7880cdc7b2b6025c80e1a5797896ff87a9
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new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-135.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-135.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24d9d63d13022e8d9d805bbfef46fee6321cdd4f
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-136.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-136.obj
new file mode 100644
index 0000000000000000000000000000000000000000..532c82400d1f8a49c8d3137d64797c46391116d4
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-138.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-138.obj
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+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-138.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-139.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-139.mtl
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index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-139.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-139.obj
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index 0000000000000000000000000000000000000000..52d5be324c2d6b04afb8584e47e6c9f1c78fd460
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-144.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-144.obj
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index 0000000000000000000000000000000000000000..97ed07ef9f9a382849544076a370eec8babb8cca
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-145.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-145.obj
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index 0000000000000000000000000000000000000000..0db28c02ff881d338d681deb77ef8362acdce4f7
--- /dev/null
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index 0000000000000000000000000000000000000000..97ed07ef9f9a382849544076a370eec8babb8cca
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-146.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-146.obj
new file mode 100644
index 0000000000000000000000000000000000000000..317f045cdcdf25bd2c4cf30bc5130fa24be56212
--- /dev/null
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-156.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-156.mtl
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index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-156.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-156.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bc543ccce2c79eb64aadae8484671f6d8ae6a75
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-159.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-159.mtl
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index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-159.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-159.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30e26145b8f79a02ca013efff625a7d9e8a547f0
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-161.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-161.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cc1185026f7f57099c18489371a918dcc08d1c76
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-161.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-161.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59b7c9b209038601df2060ff10d1316c47ded376
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-161.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-165.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-165.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-165.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-165.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69576ad9f4bcaab1c97f53da31ad5adbbfebb0d4
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-166.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-166.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-168.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-168.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-168.mtl
@@ -0,0 +1,16 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-168.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-168.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4c40c6dcf69c443b96bf9a71124203c1abcee20
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-168.obj
@@ -0,0 +1,1544 @@
+# SSTK version 0.8.0
+# 168
+mtllib original-168.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-169.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-169.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-171.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-171.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-171.mtl
@@ -0,0 +1,16 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
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+newmtl material_1_0
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+map_Kd ../images/texture_1.jpg
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-171.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-171.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb5c747223376a0632034afaec4a7f8e1c000298
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-171.obj
@@ -0,0 +1,1544 @@
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-172.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-172.obj
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index 0000000000000000000000000000000000000000..c2287096b13ac977e50b309357844f053c2f814d
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-175.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-175.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-175.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-175.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-175.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e514ffbc537bdbb375a41072ad2fece7ff0f33a6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-175.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-176.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-176.obj
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index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-18.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63902705277361ca5e0d56a107b3fb1462f5f6a1
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-181.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-181.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-181.mtl
@@ -0,0 +1,16 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
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+newmtl material_1_0
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+map_Kd ../images/texture_1.jpg
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-181.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-181.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d59d84da6f75e1fe75fafcf191028d635294a82
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-181.obj
@@ -0,0 +1,1544 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-182.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-182.mtl
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index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-182.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-182.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba8eec64afec2342808ee94bf88e5373cb7f782b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-185.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-185.obj
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index 0000000000000000000000000000000000000000..1bb486780c05a82cdcea65dd0c18183d8fea8421
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-19.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-21.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-21.obj
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index 0000000000000000000000000000000000000000..6a4578abe3995faaebf6f9fbb16788e86c995911
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-24.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-24.obj
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index 0000000000000000000000000000000000000000..0ddb6546e39e6c422bcb9d1bed7f0c98cc7ef1fa
--- /dev/null
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index 0000000000000000000000000000000000000000..97ed07ef9f9a382849544076a370eec8babb8cca
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-25.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c61a0e89f1a9776b9858c43b6713da8f692fe4cb
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..97ed07ef9f9a382849544076a370eec8babb8cca
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-26.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cc516703d6ff79cf1e1377183f7b9882379ad2b
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-26.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-27.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24e4852f6a73f83e138ca841cc1dc15864e3d79c
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-27.obj
@@ -0,0 +1,526 @@
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-30.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97ed07ef9f9a382849544076a370eec8babb8cca
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-30.mtl
@@ -0,0 +1,15 @@
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+map_Kd ../images/texture_2.jpg
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-30.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8108686de2cdddb61aee26fd5e59ffba1b493b05
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-30.obj
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index 0000000000000000000000000000000000000000..5388e503475264af035d76beba96398c77f9f4bb
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-39.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-39.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-39.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3af7ed59ea2ba3655535e3f9ee5112c790f0f81
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-39.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-4.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-44.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-44.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-44.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d61107191acacd96cb2c7d3634488fc9b03af1e
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-44.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-45.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-45.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-49.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-49.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-5.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-5.mtl
@@ -0,0 +1,16 @@
+newmtl material_0_0
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+map_Kd ../images/texture_0.jpg
+
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+map_Kd ../images/texture_1.jpg
+
diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-5.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..288cdd9098c6cfd42a16828218170e8adaaf9975
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-5.obj
@@ -0,0 +1,1544 @@
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-50.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-50.obj
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index 0000000000000000000000000000000000000000..b54f9225ab200fe5a3940c6e0ef4ce3522947c87
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-52.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-52.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-52.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbc845641a52600e13ae85dc6ceeed41c9f3aede
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-52.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-53.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-53.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-56.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-56.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-58.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
--- /dev/null
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+map_Kd ../images/texture_3.jpg
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-58.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..692bb0e1fbf59d771ec7e2b20c2c323c797baca9
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-6.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-6.mtl
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index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-6.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..414eb1831d3140a8f07d228366b6f787c8c3e206
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-61.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac5750121615e132e3df50df33b10ae9597f6ada
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-61.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18a2db8691dc8ce7355ba2b033769af89fce2788
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-61.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-63.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-63.mtl
@@ -0,0 +1,8 @@
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+illum 3
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+map_Kd ../images/texture_3.jpg
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-63.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7df07e7ead8306595f708ac0caba379adb978fd6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-63.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-66.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-66.mtl
@@ -0,0 +1,16 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-66.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7b5e43f9d7a9af791e9f420a3d529c0a41a16fc
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-66.obj
@@ -0,0 +1,1544 @@
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+# 66
+mtllib original-66.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-67.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-67.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-67.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b88f08703b3be149c215e22db0cdb570a57fb2a6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-67.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-70.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-70.mtl
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index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-70.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-70.obj
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index 0000000000000000000000000000000000000000..566c76111bda8ef2e004f6b8bf17c444295469b3
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-74.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-74.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-74.mtl
@@ -0,0 +1,16 @@
+newmtl material_0_0
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+map_Kd ../images/texture_0.jpg
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+map_Kd ../images/texture_1.jpg
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-74.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faaf68278f2a85118e1809af5a0da28e193fab85
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-74.obj
@@ -0,0 +1,1544 @@
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-78.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-78.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-78.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-78.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2227cb02a57cbe88ff8b71a972337db9247ccb15
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-78.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-79.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-79.obj
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index 0000000000000000000000000000000000000000..cd74e0b62e205644604b2ba30f8d10fdf25454ad
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-82.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-82.mtl
@@ -0,0 +1,16 @@
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+map_Kd ../images/texture_0.jpg
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+map_Kd ../images/texture_1.jpg
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-82.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93b505b5dc3a32e2eefbf65eff593b63017a29ab
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-82.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-83.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-83.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5568ebe22efe7586fcdd2ae3e0caa26517c0953
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-87.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-87.mtl
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-87.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc370e858726f26db0aeab328bb4e39ab1265ba6
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-9.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-9.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-9.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4873e4e73253a00f9093098b5e8bab739403f1b
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-90.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-90.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-93.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-93.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-93.mtl
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-93.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32da860fe541c2a20f8a4b62193947ed934abfab
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-93.obj
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diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-94.mtl b/data/PartNet-Mobility/Box/100174/textured_objs/original-94.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-94.mtl
@@ -0,0 +1,16 @@
+newmtl material_0_0
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+map_Kd ../images/texture_0.jpg
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/data/PartNet-Mobility/Box/100174/textured_objs/original-94.obj b/data/PartNet-Mobility/Box/100174/textured_objs/original-94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d95c8f3d1350b2dedce7b5bec2ae689015285c86
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100174/textured_objs/original-94.obj
@@ -0,0 +1,1544 @@
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diff --git a/data/PartNet-Mobility/Box/100189/bounding_box.json b/data/PartNet-Mobility/Box/100189/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..45d250a6de7ff7065d5900b842e676e20e7e388a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100189/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.746841, -0.358302, -0.500577], "max": [0.71462, 0.750156, 0.586035]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100189/meta.json b/data/PartNet-Mobility/Box/100189/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7da550e788b1b68ec934434ab2ff246561196d1
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100189/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "Box", "model_id": "5403ad16abe0aa86dd9b060ffea52391", "version": "1", "anno_id": "189", "time_in_sec": "68"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100189/mobility.urdf b/data/PartNet-Mobility/Box/100189/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..86edcd3eccf628ad0df4baab99c71b4111c323dd
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100189/mobility.urdf
@@ -0,0 +1,68 @@
+<?xml version="1.0" ?>
+<robot name="partnet_5403ad16abe0aa86dd9b060ffea52391">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.7146200000000005 -0.04 0.44"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.7146200000000005 -0.04 0.44"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.7146200000000005 0.04 -0.44"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.6928957130417486" upper="2.4315927138784996"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lock-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Box/100189/mobility_v2.json b/data/PartNet-Mobility/Box/100189/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..47228628e9ef95dbb36a879f82762c79f382d1dc
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100189/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 1, "name": "rotation_lid"}], "jointData": {"axis": {"origin": [0.7146200000000005, 0.04, -0.44], "direction": [-1, 0, 0]}, "limit": {"a": -399.7, "b": -220.68, "noLimit": false}}}, {"id": 1, "parent": -1, "joint": "free", "name": "lock", "parts": [{"id": 2, "name": "lock"}, {"id": 3, "name": "base_body"}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100189/result.json b/data/PartNet-Mobility/Box/100189/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..b92fedd32c5001fb97ad8882aef83f84c616e1ed
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100189/result.json
@@ -0,0 +1 @@
+[{"text": "Box", "name": "Box", "id": 0, "children": [{"text": "rotation_lid", "name": "rotation_lid", "id": 1, "objs": ["original-4"]}, {"text": "lock", "name": "lock", "id": 2, "objs": ["original-2"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-3", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100189/result_original.json b/data/PartNet-Mobility/Box/100189/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..6128d914dc3cbf98b84042b2703de7e97f4ce7cf
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100189/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Box", "text": "Box", "children": [{"id": 1, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-4"]}, {"id": 2, "name": "lock", "text": "lock", "objs": ["original-2"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100189/semantics.txt b/data/PartNet-Mobility/Box/100189/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dc8403b995024029a518d41eb5f97812ff8e521f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100189/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotation_lid
+link_1 free box_body
diff --git a/data/PartNet-Mobility/Box/100189/textured_objs/original-1.mtl b/data/PartNet-Mobility/Box/100189/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e92d84edfb8bfdb175650d24ca5c946a93c89344
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100189/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4470588235294118 0.4470588235294118 0.4470588235294118 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.5568627450980392 0.5568627450980392 0.5568627450980392 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100189/textured_objs/original-1.obj b/data/PartNet-Mobility/Box/100189/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59718d7de18f4e236c1518027c02df570362c30c
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100189/textured_objs/original-1.obj
@@ -0,0 +1,886 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/data/PartNet-Mobility/Box/100189/textured_objs/original-2.mtl b/data/PartNet-Mobility/Box/100189/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..80b26c4ab3cd88c379cb113ec82d5946ca48bcae
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100189/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 
+
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+Kd 0.5568627450980392 0.5568627450980392 0.5568627450980392 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100189/textured_objs/original-2.obj b/data/PartNet-Mobility/Box/100189/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fab316428aeb7f11510294cf349495630478488
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100189/textured_objs/original-2.obj
@@ -0,0 +1,524 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/data/PartNet-Mobility/Box/100189/textured_objs/original-3.mtl b/data/PartNet-Mobility/Box/100189/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100189/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100189/textured_objs/original-3.obj b/data/PartNet-Mobility/Box/100189/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..676697da52e63cf918cad6e6243313d3ce6812ab
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100189/textured_objs/original-3.obj
@@ -0,0 +1,1317 @@
+# SSTK version 0.8.0
+# 3
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diff --git a/data/PartNet-Mobility/Box/100189/textured_objs/original-4.mtl b/data/PartNet-Mobility/Box/100189/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100189/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100189/textured_objs/original-4.obj b/data/PartNet-Mobility/Box/100189/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b41407b2b7a48955a4d401d16bca196f876c8848
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100189/textured_objs/original-4.obj
@@ -0,0 +1,1317 @@
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diff --git a/data/PartNet-Mobility/Box/100191/bounding_box.json b/data/PartNet-Mobility/Box/100191/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f6992072c1f02b305dbabb5bfac7bb3c7c351c7
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100191/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.590593, -0.297046, -0.455315], "max": [0.586738, 0.921095, 0.686052]}
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diff --git a/data/PartNet-Mobility/Box/100191/images/texture_0.jpg b/data/PartNet-Mobility/Box/100191/images/texture_0.jpg
new file mode 100644
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+++ b/data/PartNet-Mobility/Box/100191/images/texture_0.jpg
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+version https://git-lfs.github.com/spec/v1
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+size 822503
diff --git a/data/PartNet-Mobility/Box/100191/meta.json b/data/PartNet-Mobility/Box/100191/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..519cb5325b02b488c86f1039d68cee9737872128
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100191/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "Box", "model_id": "549813be-3bd8-47dd-9a49-b51432b2f14c", "version": "1", "anno_id": "191", "time_in_sec": "31"}
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diff --git a/data/PartNet-Mobility/Box/100191/mobility.urdf b/data/PartNet-Mobility/Box/100191/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..abd88385dfd91164a383cbf7ac7c2779f201d8ea
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100191/mobility.urdf
@@ -0,0 +1,164 @@
+<?xml version="1.0" ?>
+<robot name="partnet_549813be-3bd8-47dd-9a49-b51432b2f14c">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.584214682937529 0.17467728835721608 0.4506871021461639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.584214682937529 -0.17467728835721608 -0.4506871021461639"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-1.2000883936713012" upper="3.443185548334413"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Box/100191/mobility_v2.json b/data/PartNet-Mobility/Box/100191/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2161b9686546717c4a676af1e4b659d06ee183b7
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100191/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 1, "name": "rotation_lid", "children": []}], "jointData": {"axis": {"origin": [0.584214682937529, -0.17467728835721608, -0.4506871021461639], "direction": [1, 0, 0]}, "limit": {"a": 68.76, "b": -197.28, "noLimit": false}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100191/result.json b/data/PartNet-Mobility/Box/100191/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfc573ecc71cb84b4f8f4ebb43e43664305327db
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100191/result.json
@@ -0,0 +1 @@
+[{"text": "Box", "name": "Box", "id": 0, "children": [{"text": "rotation_lid", "name": "rotation_lid", "id": 1, "objs": ["original-16", "original-12", "original-15", "original-14", "original-9", "original-8", "original-11"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-2", "original-5", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100191/result_original.json b/data/PartNet-Mobility/Box/100191/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c45e379a03002841689771f08805fee3f70d670
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100191/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Box", "text": "Box", "children": [{"id": 1, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-16", "original-12", "original-15", "original-14", "original-9", "original-8", "original-11"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100191/semantics.txt b/data/PartNet-Mobility/Box/100191/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dc8403b995024029a518d41eb5f97812ff8e521f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100191/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotation_lid
+link_1 free box_body
diff --git a/data/PartNet-Mobility/Box/100191/textured_objs/original-1.mtl b/data/PartNet-Mobility/Box/100191/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100191/textured_objs/original-1.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Box/100191/textured_objs/original-1.obj b/data/PartNet-Mobility/Box/100191/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40dc10e757b20f6ed29d102f41a3cc93148df067
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100191/textured_objs/original-1.obj
@@ -0,0 +1,38 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o group_0/ID5#ID5
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+v -0.564483 -0.297046 0.675034
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+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100191/textured_objs/original-11.mtl b/data/PartNet-Mobility/Box/100191/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100191/textured_objs/original-11.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Box/100191/textured_objs/original-11.obj b/data/PartNet-Mobility/Box/100191/textured_objs/original-11.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Box/100191/textured_objs/original-15.obj b/data/PartNet-Mobility/Box/100191/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Box/100191/textured_objs/original-2.obj b/data/PartNet-Mobility/Box/100191/textured_objs/original-2.obj
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+f 28/3/2 15/2/2 25/1/2
diff --git a/data/PartNet-Mobility/Box/100194/bounding_box.json b/data/PartNet-Mobility/Box/100194/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..756b1c66559fa08855f7de35403223e39974d4e9
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.787708, -0.321403, -0.925465], "max": [0.799042, 0.379925, 0.94339]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100194/meta.json b/data/PartNet-Mobility/Box/100194/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe3f04d76f8e8f0941a8fed3078c58798aa3bc95
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "Box", "model_id": "59af77ad277cf2806ae51efdae196e9a", "version": "1", "anno_id": "194", "time_in_sec": "73"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100194/mobility.urdf b/data/PartNet-Mobility/Box/100194/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0ce515ce8bb67d1f2e672bef9009d3fe068a8bcb
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/mobility.urdf
@@ -0,0 +1,149 @@
+<?xml version="1.0" ?>
+<robot name="partnet_59af77ad277cf2806ae51efdae196e9a">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-3">
+			<origin xyz="-0.1832887311195096 -0.37992500000000007 0.6425329999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1832887311195096 -0.37992500000000007 0.6425329999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.1832887311195096 0.37992500000000007 -0.6425329999999999"/>
+		<axis xyz="-0.5000006366409013 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_6"/>
+		<limit lower="-3.6477381366681487" upper="1.0122909661567112"/>
+	</joint>
+	<link name="link_1">
+		<visual name="rotation_lid-4">
+			<origin xyz="-0.04665768269672266 -0.25416000000000033 0.8603640000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.04665768269672266 -0.25416000000000033 0.8603640000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.13663104842278695 -0.12576499999999974 -0.21783100000000022"/>
+		<axis xyz="-0.7071053594215018 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="-3.9095375244672983" upper="2.3387411976724017"/>
+	</joint>
+	<link name="link_2">
+		<visual name="rotation_lid-5">
+			<origin xyz="-0.5007950000000001 -0.379925 0.2390748344089006"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5007950000000001 -0.379925 0.2390748344089006"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="0.5007950000000001 0.379925 -0.2390748344089006"/>
+		<axis xyz="0 0 -0.7682824968244821"/>
+		<child link="link_2"/>
+		<parent link="link_6"/>
+		<limit lower="-4.014257279586958" upper="0.6632251157578453"/>
+	</joint>
+	<link name="link_3">
+		<visual name="rotation_lid-6">
+			<origin xyz="-0.03750872614695955 -0.2541600000000003 -0.8782899999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.03750872614695955 -0.2541600000000003 -0.8782899999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="revolute">
+		<origin xyz="0.1469367141412743 -0.1257649999999998 0.21783099999999977"/>
+		<axis xyz="0.7071080748586582 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+		<limit lower="-3.8920842319473548" upper="2.3387411976724017"/>
+	</joint>
+	<link name="link_4">
+		<visual name="rotation_lid-7">
+			<origin xyz="0.10942798799431475 -0.37992500000000007 -0.6604590000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.10942798799431475 -0.37992500000000007 -0.6604590000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="revolute">
+		<origin xyz="-0.10942798799431475 0.37992500000000007 0.6604590000000001"/>
+		<axis xyz="0.5000006366409013 0 0"/>
+		<child link="link_4"/>
+		<parent link="link_6"/>
+		<limit lower="-3.665191429188092" upper="1.0297442586766543"/>
+	</joint>
+	<link name="link_5">
+		<visual name="rotation_lid-8">
+			<origin xyz="0.48946200000000006 -0.37992500000000007 -0.22034355760606106"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.48946200000000006 -0.37992500000000007 -0.22034355760606106"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="revolute">
+		<origin xyz="-0.48946200000000006 0.37992500000000007 0.22034355760606106"/>
+		<axis xyz="0 0 0.6401096650089413"/>
+		<child link="link_5"/>
+		<parent link="link_6"/>
+		<limit lower="-4.014257279586958" upper="0.6806784082777885"/>
+	</joint>
+	<link name="link_6">
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_6"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Box/100194/mobility_v2.json b/data/PartNet-Mobility/Box/100194/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..23388378de273e965e954f9fac91b12135a44482
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":6,"joint":"hinge","name":"rotation_lid","parts":[{"id":3,"name":"rotation_lid"}],"jointData":{"axis":{"origin":[0.1832887311195096,0.37992500000000007,-0.6425329999999999],"direction":[-0.5000006366409013,0,0]},"limit":{"a":-209,"b":58,"noLimit":false}}},{"id":1,"parent":0,"joint":"hinge","name":"rotation_lid","parts":[{"id":4,"name":"rotation_lid"}],"jointData":{"axis":{"origin":[0.04665768269672266,0.25416000000000033,-0.8603640000000001],"direction":[0.7071053594215018,0,0]},"limit":{"a":224,"b":-134,"noLimit":false}}},{"id":2,"parent":6,"joint":"hinge","name":"rotation_lid","parts":[{"id":5,"name":"rotation_lid"}],"jointData":{"axis":{"origin":[0.5007950000000001,0.379925,-0.2390748344089006],"direction":[0,0,0.7682824968244821]},"limit":{"a":230,"b":-38,"noLimit":false}}},{"id":3,"parent":4,"joint":"hinge","name":"rotation_lid","parts":[{"id":6,"name":"rotation_lid"}],"jointData":{"axis":{"origin":[0.03750872614695955,0.2541600000000003,0.8782899999999999],"direction":[-0.7071080748586582,0,0]},"limit":{"a":223,"b":-134,"noLimit":false}}},{"id":4,"parent":6,"joint":"hinge","name":"rotation_lid","parts":[{"id":7,"name":"rotation_lid"}],"jointData":{"axis":{"origin":[-0.10942798799431475,0.37992500000000007,0.6604590000000001],"direction":[-0.5000006366409013,0,0]},"limit":{"a":210,"b":-59,"noLimit":false}}},{"id":5,"parent":6,"joint":"hinge","name":"rotation_lid","parts":[{"id":8,"name":"rotation_lid"}],"jointData":{"axis":{"origin":[-0.48946200000000006,0.37992500000000007,0.22034355760606106],"direction":[0,0,0.6401096650089413]},"limit":{"a":-230,"b":39,"noLimit":false}}},{"id":6,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":9,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100194/result.json b/data/PartNet-Mobility/Box/100194/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccdcce8e97841aa35c611d0f30be709daee70f1b
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/result.json
@@ -0,0 +1 @@
+[{"text": "Box", "name": "Box", "id": 0, "children": [{"text": "rotation_lid", "name": "rotation_lid", "id": 3, "objs": ["original-8"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 4, "objs": ["original-9"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 5, "objs": ["original-2"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 6, "objs": ["original-6"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 7, "objs": ["original-5"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 8, "objs": ["original-3"]}, {"text": "base_body", "name": "base_body", "id": 9, "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100194/result_original.json b/data/PartNet-Mobility/Box/100194/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..933a2d6c4899d3def7995bc508b9eb044d166a04
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Box", "text": "Box", "children": [{"id": 3, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-8"]}, {"id": 4, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-9"]}, {"id": 5, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-2"]}, {"id": 6, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-6"]}, {"id": 7, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-5"]}, {"id": 8, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-3"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100194/semantics.txt b/data/PartNet-Mobility/Box/100194/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..29db21e229b2377c3b01495ba34bf056fe2dc8c2
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/semantics.txt
@@ -0,0 +1,7 @@
+link_0 hinge rotation_lid
+link_1 hinge rotation_lid
+link_2 hinge rotation_lid
+link_3 hinge rotation_lid
+link_4 hinge rotation_lid
+link_5 hinge rotation_lid
+link_6 free box_body
diff --git a/data/PartNet-Mobility/Box/100194/textured_objs/original-1.mtl b/data/PartNet-Mobility/Box/100194/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..29de9503fe7203b43b51bb7607684f9d9f7547b4
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.5372549019607843 0.3764705882352941 0.1843137254901961 
+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/Box/100194/textured_objs/original-1.obj b/data/PartNet-Mobility/Box/100194/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f1b8e7dc36d0cd148766ad87bf5ccb6f008c117
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/textured_objs/original-1.obj
@@ -0,0 +1,104 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group2/mesh1/mesh1-geometry#mesh1-geometry
+v 0.500795 0.379925 -0.642533
+v 0.500795 -0.321403 0.660459
+v 0.500795 -0.321403 -0.642533
+v 0.500795 0.379925 0.660459
+v 0.005667 -0.321403 -0.642533
+v 0.487221 0.379925 0.646885
+v -0.489462 0.379925 0.660459
+v 0.005667 -0.321403 0.660459
+v -0.489462 0.379925 -0.642533
+v 0.487221 0.379925 -0.629136
+v -0.489462 -0.321403 -0.642533
+v -0.475887 0.379925 -0.629136
+v -0.475887 0.379925 0.646885
+v 0.487221 -0.162282 -0.629136
+v -0.489462 -0.321403 0.660459
+v 0.005667 -0.162282 0.646885
+v 0.487221 -0.162282 0.646885
+v -0.475887 -0.162282 0.646885
+v 0.005667 -0.162282 -0.629136
+v -0.475887 -0.162282 -0.629136
+vn 1 0 0
+vn 0 -1 0
+vn 0 0 -1
+vn 0 1 0
+vn 0 0 1
+vn -1 0 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 2//2 5//2 3//2
+f 5//3 1//3 3//3
+f 6//4 4//4 1//4
+f 7//5 2//5 4//5
+f 5//2 2//2 8//2
+f 1//3 5//3 9//3
+f 4//4 6//4 7//4
+f 6//4 1//4 10//4
+f 2//5 7//5 8//5
+f 8//2 11//2 5//2
+f 9//3 5//3 11//3
+f 9//4 12//4 1//4
+f 13//4 7//4 6//4
+f 10//4 1//4 12//4
+f 14//6 6//6 10//6
+f 8//5 7//5 15//5
+f 11//2 8//2 15//2
+f 11//6 7//6 9//6
+f 9//4 13//4 12//4
+f 7//4 13//4 9//4
+f 6//3 16//3 13//3
+f 12//5 14//5 10//5
+f 6//6 14//6 17//6
+f 7//6 11//6 15//6
+f 18//1 12//1 13//1
+f 16//3 6//3 17//3
+f 13//3 16//3 18//3
+f 14//5 12//5 19//5
+f 14//4 16//4 17//4
+f 12//1 18//1 20//1
+f 19//4 18//4 16//4
+f 19//5 12//5 20//5
+f 16//4 14//4 19//4
+f 18//4 19//4 20//4
+usemtl material_1_0
+f 3//6 2//6 1//6
+f 4//6 1//6 2//6
+f 3//4 5//4 2//4
+f 3//5 1//5 5//5
+f 1//2 4//2 6//2
+f 4//3 2//3 7//3
+f 8//4 2//4 5//4
+f 9//5 5//5 1//5
+f 7//2 6//2 4//2
+f 10//2 1//2 6//2
+f 8//3 7//3 2//3
+f 5//4 11//4 8//4
+f 11//5 5//5 9//5
+f 1//2 12//2 9//2
+f 6//2 7//2 13//2
+f 12//2 1//2 10//2
+f 10//1 6//1 14//1
+f 15//3 7//3 8//3
+f 15//4 8//4 11//4
+f 9//1 7//1 11//1
+f 12//2 13//2 9//2
+f 9//2 13//2 7//2
+f 13//5 16//5 6//5
+f 10//3 14//3 12//3
+f 17//1 14//1 6//1
+f 15//1 11//1 7//1
+f 13//6 12//6 18//6
+f 17//5 6//5 16//5
+f 18//5 16//5 13//5
+f 19//3 12//3 14//3
+f 17//2 16//2 14//2
+f 20//6 18//6 12//6
+f 16//2 18//2 19//2
+f 20//3 12//3 19//3
+f 19//2 14//2 16//2
+f 20//2 19//2 18//2
diff --git a/data/PartNet-Mobility/Box/100194/textured_objs/original-2.mtl b/data/PartNet-Mobility/Box/100194/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b274abee4ad50adabdf0963442f92dfe36f61be2
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.5372549019607843 0.3764705882352941 0.1843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100194/textured_objs/original-2.obj b/data/PartNet-Mobility/Box/100194/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5efff90c0be5bcceb0d1a8fc45aaa3669fe1a6f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/textured_objs/original-2.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o Group3/mesh2/mesh2-geometry#mesh2-geometry
+v 0.500795 0.379925 0.660459
+v 0.799042 0.021959 -0.399352
+v 0.799042 0.021959 0.417278
+v 0.500795 0.379925 -0.642533
+vn -0.768283571007476 -0.6401096425769578 0
+vn 0.768283571007476 0.6401096425769578 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100194/textured_objs/original-3.mtl b/data/PartNet-Mobility/Box/100194/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b274abee4ad50adabdf0963442f92dfe36f61be2
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.5372549019607843 0.3764705882352941 0.1843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100194/textured_objs/original-3.obj b/data/PartNet-Mobility/Box/100194/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..388bc96abb5ae75b4de20f4d4812b9481a50726b
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/textured_objs/original-3.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o Group4/mesh3/mesh3-geometry#mesh3-geometry
+v -0.489462 0.379925 -0.642533
+v -0.787708 0.021959 0.417278
+v -0.787708 0.021959 -0.399352
+v -0.489462 0.379925 0.660459
+vn 0.768283571007476 -0.6401096425769578 0
+vn -0.768283571007476 0.6401096425769578 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100194/textured_objs/original-5.mtl b/data/PartNet-Mobility/Box/100194/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b274abee4ad50adabdf0963442f92dfe36f61be2
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.5372549019607843 0.3764705882352941 0.1843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100194/textured_objs/original-5.obj b/data/PartNet-Mobility/Box/100194/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b758bbdcf5d19f37081d4b0ce6f61434bf529101
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/textured_objs/original-5.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o Group6/mesh4/mesh4-geometry#mesh4-geometry
+v 0.500795 0.379925 0.660459
+v -0.489462 0.254160 0.878290
+v 0.500795 0.254160 0.878290
+v -0.489462 0.379925 0.660459
+vn 0 0.8660253028382761 0.500000174843842
+vn 0 -0.8660253028382761 -0.500000174843842
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100194/textured_objs/original-6.mtl b/data/PartNet-Mobility/Box/100194/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b274abee4ad50adabdf0963442f92dfe36f61be2
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.5372549019607843 0.3764705882352941 0.1843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100194/textured_objs/original-6.obj b/data/PartNet-Mobility/Box/100194/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d5503c277f5ef3fa1e784237afb0602e11653ff
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/textured_objs/original-6.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o Group7/mesh5/mesh5-geometry#mesh5-geometry
+v 0.500795 0.254160 0.878290
+v -0.241897 0.011201 0.943390
+v 0.253231 0.011201 0.943390
+v -0.489462 0.254160 0.878290
+vn 0 0.2588189595935752 0.9659258492011171
+vn 0 -0.2588189595935752 -0.9659258492011171
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100194/textured_objs/original-8.mtl b/data/PartNet-Mobility/Box/100194/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b274abee4ad50adabdf0963442f92dfe36f61be2
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.5372549019607843 0.3764705882352941 0.1843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100194/textured_objs/original-8.obj b/data/PartNet-Mobility/Box/100194/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d05dd22d3ebae20831aea6912e4943a3abf44b62
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/textured_objs/original-8.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o Group9/mesh6/mesh6-geometry#mesh6-geometry
+v -0.489462 0.379925 -0.642533
+v 0.500795 0.254160 -0.860364
+v -0.489462 0.254160 -0.860364
+v 0.500795 0.379925 -0.642533
+vn 0 0.8660253028382763 -0.5000001748438415
+vn 0 -0.8660253028382763 0.5000001748438415
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100194/textured_objs/original-9.mtl b/data/PartNet-Mobility/Box/100194/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b274abee4ad50adabdf0963442f92dfe36f61be2
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.5372549019607843 0.3764705882352941 0.1843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100194/textured_objs/original-9.obj b/data/PartNet-Mobility/Box/100194/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b555b8bf9673017aa52da8758a7dd477b8f99078
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100194/textured_objs/original-9.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o Group10/mesh7/mesh7-geometry#mesh7-geometry
+v -0.489462 0.254160 -0.860364
+v 0.253231 0.011201 -0.925465
+v -0.241897 0.011201 -0.925465
+v 0.500795 0.254160 -0.860364
+vn 0 0.2588189595935757 -0.9659258492011171
+vn 0 -0.2588189595935757 0.9659258492011171
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100197/bounding_box.json b/data/PartNet-Mobility/Box/100197/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fcbee561a767526ac7875d39f5d65c5b5ffe0e1
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.766515, -0.409139, -0.794137], "max": [0.813913, 0.535374, 0.786291]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100197/meta.json b/data/PartNet-Mobility/Box/100197/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..141d24a0bebabf3829445d2f55511bd103b2d00a
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "Box", "model_id": "622026621d781235889463094c9fcbb0", "version": "1", "anno_id": "197", "time_in_sec": "10"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100197/mobility.urdf b/data/PartNet-Mobility/Box/100197/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..22a2bb23bb95a0e155c0837fd3919849db598d2f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/mobility.urdf
@@ -0,0 +1,107 @@
+<?xml version="1.0" ?>
+<robot name="partnet_622026621d781235889463094c9fcbb0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-1">
+			<origin xyz="0.12742280927128435 -0.20805700000000024 0.4668189999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.12742280927128435 -0.20805700000000024 0.4668189999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.12742280927128435 0.20805700000000024 -0.4668189999999999"/>
+		<axis xyz="-0.7071078613399783 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_4"/>
+		<limit lower="-2.356194490192345" upper="2.356194490192345"/>
+	</joint>
+	<link name="link_1">
+		<visual name="rotation_lid-2">
+			<origin xyz="0.43919700000000006 -0.20805699999999944 -0.009942627137709104"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.43919700000000006 -0.20805699999999944 -0.009942627137709104"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.43919700000000006 0.20805699999999944 0.009942627137709104"/>
+		<axis xyz="0 0 0.707107861339978"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+		<limit lower="-2.356194490192345" upper="2.356194490192345"/>
+	</joint>
+	<link name="link_2">
+		<visual name="rotation_lid-3">
+			<origin xyz="0.07712470905914726 -0.20805700000000002 -0.458974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.07712470905914726 -0.20805700000000002 -0.458974"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="-0.07712470905914726 0.20805700000000002 0.458974"/>
+		<axis xyz="0.7071067811865475 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_4"/>
+		<limit lower="-2.375044046113884" upper="2.356194490192345"/>
+	</joint>
+	<link name="link_3">
+		<visual name="rotation_lid-4">
+			<origin xyz="-0.48659600000000003 -0.20805699999999983 -0.11642219153206129"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.48659600000000003 -0.20805699999999983 -0.11642219153206129"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="revolute">
+		<origin xyz="0.48659600000000003 0.20805699999999983 0.11642219153206129"/>
+		<axis xyz="0 0 -0.7071067811865476"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+		<limit lower="-2.3436281195779856" upper="2.3247785636564466"/>
+	</joint>
+	<link name="link_4">
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Box/100197/mobility_v2.json b/data/PartNet-Mobility/Box/100197/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..33927453fcf7fd0d263b158f1470aaa65301d496
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 4, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 1, "name": "rotation_lid", "children": []}], "jointData": {"axis": {"origin": [-0.12742280927128435, 0.20805700000000024, -0.4668189999999999], "direction": [0.7071078613399783, 0, 0]}, "limit": {"a": -225, "b": -495, "noLimit": false}}}, {"id": 1, "parent": 4, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 2, "name": "rotation_lid", "children": []}], "jointData": {"axis": {"origin": [-0.43919700000000006, 0.20805699999999944, 0.009942627137709104], "direction": [0, 0, -0.707107861339978]}, "limit": {"a": -225, "b": -495, "noLimit": false}}}, {"id": 2, "parent": 4, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 3, "name": "rotation_lid", "children": []}], "jointData": {"axis": {"origin": [-0.07712470905914726, 0.20805700000000002, 0.458974], "direction": [0.7071067811865475, 0, 0]}, "limit": {"a": -496.08000000000004, "b": -225, "noLimit": false}}}, {"id": 3, "parent": 4, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 4, "name": "rotation_lid", "children": []}], "jointData": {"axis": {"origin": [0.48659600000000003, 0.20805699999999983, 0.11642219153206129], "direction": [0, 0, 0.7071067811865476]}, "limit": {"a": 134.28, "b": -133.2, "noLimit": false}}}, {"id": 4, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100197/result.json b/data/PartNet-Mobility/Box/100197/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..e01716b8134e1554828c149b43c5ace6a7291392
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/result.json
@@ -0,0 +1 @@
+[{"text": "Box", "name": "Box", "id": 0, "children": [{"text": "rotation_lid", "name": "rotation_lid", "id": 1, "objs": ["original-2"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 2, "objs": ["original-5"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 3, "objs": ["original-4"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 4, "objs": ["original-3"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100197/result_original.json b/data/PartNet-Mobility/Box/100197/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..397673d8a29ae0c1fedf04c7cff8103862eaca32
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Box", "text": "Box", "children": [{"id": 1, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-2"]}, {"id": 2, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-5"]}, {"id": 3, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-4"]}, {"id": 4, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-3"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100197/semantics.txt b/data/PartNet-Mobility/Box/100197/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc7847f81fca1455abbf4292ad77a1e480cd536f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge rotation_lid
+link_1 hinge rotation_lid
+link_2 hinge rotation_lid
+link_3 hinge rotation_lid
+link_4 free box_body
diff --git a/data/PartNet-Mobility/Box/100197/textured_objs/original-1.mtl b/data/PartNet-Mobility/Box/100197/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f64b7934ee2d62cd5b816eb2bd4f4d5bac7b8cd6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.6392156862745098 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100197/textured_objs/original-1.obj b/data/PartNet-Mobility/Box/100197/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4273d01cd4f8bbfdba9ad9e87f83bed9f763a06
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/textured_objs/original-1.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o boxyBottom1/boxyBottom/mesh1/mesh1-geometry#mesh1-geometry
+v 0.486596 -0.409139 -0.466819
+v -0.439197 -0.409139 0.458974
+v -0.439197 -0.409139 -0.466819
+v 0.486596 -0.409139 0.458974
+v -0.439197 0.208057 -0.466819
+v 0.486596 0.208057 0.458974
+v -0.439197 0.208057 0.458974
+v 0.486596 0.208057 -0.466819
+vn 0 -1 0
+vn 0 1 0
+vn -1 0 0
+vn 1 0 0
+vn 0 0 -1
+vn 0 0 1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 5//5 1//5 3//5
+f 3//6 1//6 5//6
+f 1//4 6//4 4//4
+f 4//3 6//3 1//3
+f 6//6 2//6 4//6
+f 4//5 2//5 6//5
+f 5//3 2//3 7//3
+f 7//4 2//4 5//4
+f 1//5 5//5 8//5
+f 8//6 5//6 1//6
+f 6//4 1//4 8//4
+f 8//3 1//3 6//3
+f 2//6 6//6 7//6
+f 7//5 6//5 2//5
diff --git a/data/PartNet-Mobility/Box/100197/textured_objs/original-2.mtl b/data/PartNet-Mobility/Box/100197/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f64b7934ee2d62cd5b816eb2bd4f4d5bac7b8cd6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.6392156862745098 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100197/textured_objs/original-2.obj b/data/PartNet-Mobility/Box/100197/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd34af4f69df782e086431d021a59f784fe0d9cd
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/textured_objs/original-2.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o flappyOne1/flappyOne/mesh3/mesh3-geometry#mesh3-geometry
+v 0.476952 0.535374 -0.794137
+v -0.429554 0.208057 -0.466819
+v -0.429554 0.535374 -0.794137
+v 0.476952 0.208057 -0.466819
+vn 0 -0.7071067811865472 -0.707106781186548
+vn 0 0.7071067811865472 0.707106781186548
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100197/textured_objs/original-3.mtl b/data/PartNet-Mobility/Box/100197/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f64b7934ee2d62cd5b816eb2bd4f4d5bac7b8cd6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.6392156862745098 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100197/textured_objs/original-3.obj b/data/PartNet-Mobility/Box/100197/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41c7099891f82db5213add63e8d09abeb35de1d0
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/textured_objs/original-3.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o flappyTwo1/flappyTwo/mesh4/mesh4-geometry#mesh4-geometry
+v 0.813913 0.535374 -0.466819
+v 0.486596 0.208057 0.458974
+v 0.486596 0.208057 -0.466819
+v 0.813913 0.535374 0.458974
+vn 0.7071067811865478 -0.7071067811865472 0
+vn -0.7071067811865478 0.7071067811865472 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100197/textured_objs/original-4.mtl b/data/PartNet-Mobility/Box/100197/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f64b7934ee2d62cd5b816eb2bd4f4d5bac7b8cd6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.6392156862745098 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100197/textured_objs/original-4.obj b/data/PartNet-Mobility/Box/100197/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..682bf999df5f5871366440cb5863a40f196cf4a3
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/textured_objs/original-4.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o flappyOne2/flappyOne/mesh3/mesh3-geometry#mesh3-geometry
+v 0.476952 0.535374 0.786291
+v -0.429554 0.208057 0.458974
+v -0.429554 0.535374 0.786291
+v 0.476952 0.208057 0.458974
+vn 0 0.7071067811865476 -0.7071067811865476
+vn 0 -0.7071067811865476 0.7071067811865476
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100197/textured_objs/original-5.mtl b/data/PartNet-Mobility/Box/100197/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f64b7934ee2d62cd5b816eb2bd4f4d5bac7b8cd6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.6392156862745098 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100197/textured_objs/original-5.obj b/data/PartNet-Mobility/Box/100197/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1242addf86c1d959a0b33b7dd3de0fd4afb2839c
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100197/textured_objs/original-5.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o flappyTwo2/flappyTwo/mesh4/mesh4-geometry#mesh4-geometry
+v -0.766515 0.535374 -0.466819
+v -0.439197 0.208057 0.458974
+v -0.439197 0.208057 -0.466819
+v -0.766515 0.535374 0.458974
+vn 0.7071067811865476 0.7071067811865474 0
+vn -0.7071067811865476 -0.7071067811865474 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100202/bounding_box.json b/data/PartNet-Mobility/Box/100202/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bcb860a36597f8fafebd2acb20d460660f66546
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.82917, -0.407264, -0.836855], "max": [0.869636, 0.39495, 0.861951]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100202/meta.json b/data/PartNet-Mobility/Box/100202/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..243959f113fd42f845129806f5ff27dd88af20d7
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "Box", "model_id": "6c0d654636fc54545c0af2849a181c0", "version": "1", "anno_id": "202", "time_in_sec": "12"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100202/mobility.urdf b/data/PartNet-Mobility/Box/100202/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..96ef0f45f4395a996af943e16c3b58227f46b05f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/mobility.urdf
@@ -0,0 +1,107 @@
+<?xml version="1.0" ?>
+<robot name="partnet_6c0d654636fc54545c0af2849a181c0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.14752513690857993 -0.15900499999999979 0.412153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.14752513690857993 -0.15900499999999979 0.412153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.14752513690857993 0.15900499999999979 -0.412153"/>
+		<axis xyz="-0.8741577615656795 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_4"/>
+		<limit lower="-2.613805087786708" upper="2.0294688542190062"/>
+	</joint>
+	<link name="link_1">
+		<visual name="rotation_lid-2">
+			<origin xyz="0.4044690000000002 -0.15900499999999973 0.01817454130744789"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4044690000000002 -0.15900499999999973 0.01817454130744789"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.4044690000000002 0.15900499999999973 -0.01817454130744789"/>
+		<axis xyz="0 0 0.8741572761215376"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+		<limit lower="-2.638937829015427" upper="2.0294688542190062"/>
+	</joint>
+	<link name="link_2">
+		<visual name="rotation_lid-3">
+			<origin xyz="0.09790094904684699 -0.15900499999999917 -0.4372489999999991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.09790094904684699 -0.15900499999999917 -0.4372489999999991"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="-0.09790094904684699 0.15900499999999917 0.4372489999999991"/>
+		<axis xyz="0.8741577615656795 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_4"/>
+		<limit lower="-2.638937829015427" upper="2.0671679660620836"/>
+	</joint>
+	<link name="link_3">
+		<visual name="rotation_lid-4">
+			<origin xyz="-0.4449340000000004 -0.15900500000000037 -0.1354452204501322"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4449340000000004 -0.15900500000000037 -0.1354452204501322"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="revolute">
+		<origin xyz="0.4449340000000004 0.15900500000000037 0.1354452204501322"/>
+		<axis xyz="0 0 -0.8741577615656797"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+		<limit lower="-2.6200882730938875" upper="2.0483184101405447"/>
+	</joint>
+	<link name="link_4">
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Box/100202/mobility_v2.json b/data/PartNet-Mobility/Box/100202/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..50a6e31b7552bdd8292b1c1b12c3e2042deac7f3
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 4, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 1, "name": "rotation_lid", "children": []}], "jointData": {"axis": {"origin": [0.14752513690857993, 0.15900499999999979, -0.412153], "direction": [-0.8741577615656795, 0, 0]}, "limit": {"a": -509.76, "b": -243.72, "noLimit": false}}}, {"id": 1, "parent": 4, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 2, "name": "rotation_lid", "children": []}], "jointData": {"axis": {"origin": [-0.4044690000000002, 0.15900499999999973, -0.01817454130744789], "direction": [0, 0, 0.8741572761215376]}, "limit": {"a": -511.20000000000005, "b": -243.72, "noLimit": false}}}, {"id": 2, "parent": 4, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 3, "name": "rotation_lid", "children": []}], "jointData": {"axis": {"origin": [-0.09790094904684699, 0.15900499999999917, 0.4372489999999991], "direction": [0.8741577615656795, 0, 0]}, "limit": {"a": -511.20000000000005, "b": -241.56, "noLimit": false}}}, {"id": 3, "parent": 4, "joint": "hinge", "name": "rotation_lid", "parts": [{"id": 4, "name": "rotation_lid", "children": []}], "jointData": {"axis": {"origin": [0.4449340000000004, 0.15900500000000037, 0.1354452204501322], "direction": [0, 0, 0.8741577615656797]}, "limit": {"a": 150.12, "b": -117.35999999999999, "noLimit": false}}}, {"id": 4, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100202/result.json b/data/PartNet-Mobility/Box/100202/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..43a5dba0d5d8173e69e6a749e8910cedd0a00429
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/result.json
@@ -0,0 +1 @@
+[{"text": "Box", "name": "Box", "id": 0, "children": [{"text": "rotation_lid", "name": "rotation_lid", "id": 1, "objs": ["original-2"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 2, "objs": ["original-6"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 3, "objs": ["original-3"]}, {"text": "rotation_lid", "name": "rotation_lid", "id": 4, "objs": ["original-5"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-7"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100202/result_original.json b/data/PartNet-Mobility/Box/100202/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..53bf8ef3ec26d4f60fbbf658c5755443f7d26bf5
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Box", "text": "Box", "children": [{"id": 1, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-2"]}, {"id": 2, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-6"]}, {"id": 3, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-3"]}, {"id": 4, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-5"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100202/semantics.txt b/data/PartNet-Mobility/Box/100202/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc7847f81fca1455abbf4292ad77a1e480cd536f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge rotation_lid
+link_1 hinge rotation_lid
+link_2 hinge rotation_lid
+link_3 hinge rotation_lid
+link_4 free box_body
diff --git a/data/PartNet-Mobility/Box/100202/textured_objs/original-2.mtl b/data/PartNet-Mobility/Box/100202/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e30f35a7da5127d17ad164bbb037e73fef1b998
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0.6392156862745098 0.4745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100202/textured_objs/original-2.obj b/data/PartNet-Mobility/Box/100202/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2378fa59447fe6a21e7610eb575988ba34bd790
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/textured_objs/original-2.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o mesh1/mesh1-geometry#mesh1-geometry
+v 0.444934 0.159005 -0.412153
+v -0.404469 0.394950 -0.836855
+v -0.404469 0.159005 -0.412153
+v 0.444934 0.394950 -0.836855
+vn 0 0.874157181781879 0.48564310098997926
+vn 0 -0.874157181781879 -0.48564310098997926
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100202/textured_objs/original-3.mtl b/data/PartNet-Mobility/Box/100202/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e30f35a7da5127d17ad164bbb037e73fef1b998
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0.6392156862745098 0.4745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100202/textured_objs/original-3.obj b/data/PartNet-Mobility/Box/100202/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2533029f2f25659489acf3e66ebb45ae152475c
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/textured_objs/original-3.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o mesh2/mesh2-geometry#mesh2-geometry
+v 0.444934 0.394950 0.861951
+v -0.404469 0.159005 0.437249
+v -0.404469 0.394950 0.861951
+v 0.444934 0.159005 0.437249
+vn 0 0.8741571817818791 -0.4856431009899788
+vn 0 -0.8741571817818791 0.4856431009899788
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100202/textured_objs/original-5.mtl b/data/PartNet-Mobility/Box/100202/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e30f35a7da5127d17ad164bbb037e73fef1b998
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0.6392156862745098 0.4745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100202/textured_objs/original-5.obj b/data/PartNet-Mobility/Box/100202/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dbaf8248dee0327e98331e0e6345d3e58f1d417
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/textured_objs/original-5.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o mesh3/mesh3-geometry#mesh3-geometry
+v 0.869636 0.394950 -0.412153
+v 0.444934 0.159005 0.437249
+v 0.444934 0.159005 -0.412153
+v 0.869636 0.394950 0.437249
+vn 0.485643100989979 -0.874157181781879 0
+vn -0.485643100989979 0.874157181781879 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100202/textured_objs/original-6.mtl b/data/PartNet-Mobility/Box/100202/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e30f35a7da5127d17ad164bbb037e73fef1b998
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0.6392156862745098 0.4745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100202/textured_objs/original-6.obj b/data/PartNet-Mobility/Box/100202/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..389ce96f525c091c7a004f3a2d9e5f767d5a8c30
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/textured_objs/original-6.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o mesh4/mesh4-geometry#mesh4-geometry
+v -0.404469 0.159005 -0.412153
+v -0.829170 0.394950 0.437249
+v -0.829170 0.394950 -0.412153
+v -0.404469 0.159005 0.437249
+vn -0.485643100989979 -0.874157181781879 0
+vn 0.485643100989979 0.874157181781879 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Box/100202/textured_objs/original-7.mtl b/data/PartNet-Mobility/Box/100202/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e30f35a7da5127d17ad164bbb037e73fef1b998
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0.6392156862745098 0.4745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100202/textured_objs/original-7.obj b/data/PartNet-Mobility/Box/100202/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70306224ecd345975a1f1ba61a259917e0b211dc
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100202/textured_objs/original-7.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o mesh5/mesh5-geometry#mesh5-geometry
+v -0.404469 0.159005 -0.412153
+v -0.404469 -0.407264 0.437249
+v -0.404469 0.159005 0.437249
+v -0.404469 -0.407264 0.012548
+v 0.444934 0.159005 0.437249
+v -0.404469 -0.407264 -0.412153
+v 0.444934 -0.407264 0.012548
+v 0.444934 -0.407264 0.437249
+v 0.444934 -0.407264 -0.412153
+v 0.444934 0.159005 -0.412153
+v 0.444934 0.159005 0.012548
+vn -1 0 0
+vn 1 0 0
+vn 0 0 1
+vn 0 0 -1
+vn 0 -1 0
+vn 0 1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 4//1 1//1 6//1
+f 6//2 1//2 4//2
+f 7//5 2//5 4//5
+f 4//6 2//6 7//6
+f 5//3 2//3 8//3
+f 8//4 2//4 5//4
+f 1//4 9//4 6//4
+f 6//3 9//3 1//3
+f 9//5 4//5 6//5
+f 6//6 4//6 9//6
+f 2//5 7//5 8//5
+f 8//6 7//6 2//6
+f 4//5 9//5 7//5
+f 7//6 9//6 4//6
+f 7//2 5//2 8//2
+f 8//1 5//1 7//1
+f 9//4 1//4 10//4
+f 10//3 1//3 9//3
+f 11//2 7//2 9//2
+f 9//1 7//1 11//1
+f 5//2 7//2 11//2
+f 11//1 7//1 5//1
+f 11//2 9//2 10//2
+f 10//1 9//1 11//1
diff --git a/data/PartNet-Mobility/Box/100214/bounding_box.json b/data/PartNet-Mobility/Box/100214/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..728c012d9e41dff4483422a578b818a5d314191c
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.448176, -0.449645, -0.374265], "max": [0.45669, 0.83769, 0.490208]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100214/meta.json b/data/PartNet-Mobility/Box/100214/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..513d1c8f70fe6033b34bb3a180503e93745827e4
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "Box", "model_id": "802f6cfeb6f41f16a59ff8378a27445f", "version": "3", "anno_id": "214", "time_in_sec": "498"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100214/mobility.urdf b/data/PartNet-Mobility/Box/100214/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6d10ae87ae8a5cb81b9e8dafeeec098496758e2e
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/mobility.urdf
@@ -0,0 +1,470 @@
+<?xml version="1.0" ?>
+<robot name="partnet_802f6cfeb6f41f16a59ff8378a27445f">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="rotation_lid-1">
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.4566900000000005 -0.19353231481404498 0.22"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.4566900000000005 0.19353231481404498 -0.22"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+		<limit lower="-1.6755160819145563" upper="0.3490658503988659"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lock-2">
+			<origin xyz="0.31702800000000186 -0.12031968844452468 -0.42424240488341747"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.31702800000000186 -0.12031968844452468 -0.42424240488341747"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.31702800000000186 0.12031968844452468 0.42424240488341747"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+		<limit lower="-0.0" upper="0.4363323129985824"/>
+	</joint>
+	<link name="link_2">
+		<visual name="lock-3">
+			<origin xyz="0.31702800000000186 -0.12031968844452468 -0.42424240488341747"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.31702800000000186 -0.12031968844452468 -0.42424240488341747"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="-0.31702800000000186 0.12031968844452468 0.42424240488341747"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+		<limit lower="-0.0" upper="0.4363323129985824"/>
+	</joint>
+	<link name="link_3">
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Box/100214/mobility_v2.json b/data/PartNet-Mobility/Box/100214/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4f7070f5a0fd339dd71284061f243289637151d
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":3,"joint":"hinge","name":"rotation_lid","parts":[{"id":1,"name":"rotation_lid"}],"jointData":{"axis":{"origin":[0.4566900000000005,0.19353231481404498,-0.22],"direction":[1,0,0]},"limit":{"a":96,"b":-20,"noLimit":false}}},{"id":1,"parent":3,"joint":"hinge","name":"lock","parts":[{"id":2,"name":"lock"}],"jointData":{"axis":{"origin":[-0.31702800000000186,0.12031968844452468,0.42424240488341747],"direction":[1,0,0]},"limit":{"a":0,"b":-25,"noLimit":false}}},{"id":2,"parent":3,"joint":"hinge","name":"lock","parts":[{"id":3,"name":"lock"}],"jointData":{"axis":{"origin":[-0.31702800000000186,0.12031968844452468,0.42424240488341747],"direction":[1,0,0]},"limit":{"a":0,"b":-25,"noLimit":false}}},{"id":3,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":4,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100214/result.json b/data/PartNet-Mobility/Box/100214/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..16122299e5d5a398f35efb1974cb215dc53206e6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/result.json
@@ -0,0 +1 @@
+[{"text": "Box", "name": "Box", "id": 0, "children": [{"text": "rotation_lid", "name": "rotation_lid", "id": 1, "objs": ["original-4", "original-9", "original-37", "original-36", "original-34", "original-35", "original-38", "original-12", "original-13", "original-15", "original-16", "original-18", "original-19", "original-21", "original-20", "original-17", "original-14", "original-32", "original-31", "original-30", "original-29", "original-26", "original-27", "original-25", "original-24", "original-23", "original-33", "original-28"]}, {"text": "lock", "name": "lock", "id": 2, "objs": ["original-3"]}, {"text": "lock", "name": "lock", "id": 3, "objs": ["original-7"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-2", "original-39", "original-5", "original-6", "original-1", "original-40"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100214/result_original.json b/data/PartNet-Mobility/Box/100214/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7225a4deb251b911d1f28828bfd22f1740d7004
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Box", "text": "Box", "children": [{"id": 1, "name": "rotation_lid", "text": "rotation_lid", "objs": ["original-4", "original-9", "original-37", "original-36", "original-34", "original-35", "original-38", "original-12", "original-13", "original-15", "original-16", "original-18", "original-19", "original-21", "original-20", "original-17", "original-14", "original-32", "original-31", "original-30", "original-29", "original-26", "original-27", "original-25", "original-24", "original-23", "original-33", "original-28"]}, {"id": 2, "name": "lock", "text": "lock", "objs": ["original-3"]}, {"id": 3, "name": "lock", "text": "lock", "objs": ["original-7"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Box/100214/semantics.txt b/data/PartNet-Mobility/Box/100214/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..565a6c69fe97b23f729be3072b8d4c454692a91d
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/semantics.txt
@@ -0,0 +1,4 @@
+link_0 hinge rotation_lid
+link_1 hinge lock
+link_2 hinge lock
+link_3 free box_body
diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-1.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-1.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13285d7ab138eefd96d6481ae94149e8261be139
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-1.obj
@@ -0,0 +1,3416 @@
+# SSTK version 0.8.0
+# 1
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-12.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-12.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5056038728d83c561aee2cf66e5ec68c83a17a2c
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-12.obj
@@ -0,0 +1,809 @@
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-13.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-13.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f70bc9c43531e5d8b61bfb9d214e5b1b6d5eaa4b
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-13.obj
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+# SSTK version 0.8.0
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+mtllib original-13.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-14.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-14.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f83419f7e005d9e3fba838e8649bee243c6315ad
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-14.obj
@@ -0,0 +1,809 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-15.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-15.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-15.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c3f431c5afdf84929942c9ca905ced8b5b5e9d5
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-16.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-16.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08b7326779e71ac319f5ce722eff4fa2aa6eaa31
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-17.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-17.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef616d3d91ae07fc997854dc5b338e57a7cbbbe1
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-17.obj
@@ -0,0 +1,43 @@
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-18.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-18.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd77f595ba3674d06cd43ad30cb6a37b91653b44
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-18.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-19.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-19.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8324513d9eda7d21c1cebd90e58beae0ff5fc260
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-19.obj
@@ -0,0 +1,363 @@
+# SSTK version 0.8.0
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+mtllib original-19.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-2.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-2.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..513eafc4bceb06a2d8f2f1697e48db04e3ef822c
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-2.obj
@@ -0,0 +1,697 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o PivotPlug1/PivotPlug/mesh8/mesh8-geometry#mesh8-geometry
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-20.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-20.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11f363c0500298120055d95a0bbbdfff9322adcb
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-21.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-21.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-21.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28ab5c7558874a68d13ed24151bdf4207ed6db70
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-23.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-23.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-23.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..689338c01ef84229a8af0b27fd7bd560479595b3
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-23.obj
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-24.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-24.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff95190c29d6d74d0214f9f49ad9a83a8b195643
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-24.obj
@@ -0,0 +1,217 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-25.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-25.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-25.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88a62586eec4c865a616e0607818b0223a26655d
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-25.obj
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-26.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-26.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c03d7c992dd568206c19d4e26f2721563c6fab78
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-26.obj
@@ -0,0 +1,289 @@
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-27.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-27.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c98ddfef23a5f91f4a1c2cd486b722519b1a37e3
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-27.obj
@@ -0,0 +1,773 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-28.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-28.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be3f8810f820f3f1c852c2f156fe0b67fe2b2b2d
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-28.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
+o mesh89/mesh89-geometry#mesh89-geometry
+v 0.128879 0.764599 -0.362095
+v 0.125425 0.767783 -0.362373
+v 0.125425 0.764599 -0.362095
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+vn 0 0.08715588831730847 0.9961946853560405
+vn 0 -0.08715588831730847 -0.9961946853560405
+vn -1 0 0
+vn 1 0 0
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+vn 0 0.9961946853560405 -0.08715588831730847
+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-29.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-29.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74707b679e677eef7b1db47ce8ae0f0294ce7e5f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-29.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
+o mesh90/mesh90-geometry#mesh90-geometry
+v 0.128879 0.769546 -0.362527
+v 0.125425 0.782550 -0.363665
+v 0.125425 0.769546 -0.362527
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+vn 0 0.9961946853560405 -0.08715588831730847
+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-3.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9d1771778b77b1b4d6b7c9e23d46ae077aeeb516
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 1 0 
+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/Box/100214/textured_objs/original-3.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3250fa3fe546751c2d0ee00b2aaa1a0b51e80d9b
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-3.obj
@@ -0,0 +1,3417 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o GreenLatch1/GreenLatch/mesh13/mesh13-geometry#mesh13-geometry
+v -0.311873 0.111601 0.406619
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-30.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-30.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff22b3ca1484ed7a5b934a1c735c5816ac0eb4da
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-31.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-31.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-31.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c563bafe286b3cffde2b85cf53f8d09b2ae97e
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-32.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-32.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11aa92f25085d5466511f2d55e947ec3245103b7
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-32.obj
@@ -0,0 +1,237 @@
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-33.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e39d531f2a1784f8c0e84483a1f68b9b4a9a2c0
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-33.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
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+newmtl material_1_0
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+
+newmtl material_2_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-33.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f2e2f2729e3b1c003d657bca47fb11b393aae5b
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-33.obj
@@ -0,0 +1,11169 @@
+# SSTK version 0.8.0
+# 33
+mtllib original-33.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-34.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-34.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-34.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..504c02e16ac3eddca196c573678c1e570ec7a4c6
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-34.obj
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-35.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-35.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-35.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bc7e38330c9f7138e4eebfb29181c2914bcdf04
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-36.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-36.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-36.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e296cd7e97c71a71dccc32f7e62517db111316c
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-36.obj
@@ -0,0 +1,103 @@
+# SSTK version 0.8.0
+# 36
+mtllib original-36.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-37.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-37.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-37.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34e7318fd714f57b271731491f1ade582ead82c1
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-37.obj
@@ -0,0 +1,87 @@
+# SSTK version 0.8.0
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+mtllib original-37.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-38.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-38.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-38.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc83fa924b76db8a157b95442e9f37197792988f
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-38.obj
@@ -0,0 +1,55 @@
+# SSTK version 0.8.0
+# 38
+mtllib original-38.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-39.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-39.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-39.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..196ddfb681f645429caa90967aa95e00b225f9ff
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-39.obj
@@ -0,0 +1,649 @@
+# SSTK version 0.8.0
+# 39
+mtllib original-39.mtl
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-4.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cc13162e84b57f2c497b6d532303e5efaca74435
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-4.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-4.obj b/data/PartNet-Mobility/Box/100214/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab38a33760e912e41cf48b0aeea89eed5ecbb793
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-4.obj
@@ -0,0 +1,10360 @@
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+f 959//28 1066//28 1067//28
+f 1287//2 1061//2 1409//2
+f 1409//1 1061//1 1287//1
+f 1182//28 1287//28 1410//28
+f 1290//28 1067//28 1066//28
+f 1410//2 1040//2 1383//2
+f 1383//1 1040//1 1410//1
+f 1040//2 1410//2 1409//2
+f 1409//1 1410//1 1040//1
diff --git a/data/PartNet-Mobility/Box/100214/textured_objs/original-40.mtl b/data/PartNet-Mobility/Box/100214/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cc13162e84b57f2c497b6d532303e5efaca74435
--- /dev/null
+++ b/data/PartNet-Mobility/Box/100214/textured_objs/original-40.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 
+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 
+