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diff --git a/data/PartNet-Mobility/Chair/37099/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/37099/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..632032c09575aa924efe4727f0e87bbaf58105b6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/37099/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/37099/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12bb1e44ef5e8a888d8c94717f389017a55dcb36
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/37099/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/37099/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ae21da88e14b4c91b3269d0bd3526f32b4b9023a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/37099/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/37099/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d71ed8b250eda8b1fd4cb7f781195611ba1cde77
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/37099/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/37099/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cb178eab099bdb85fc5bf3c7ee12fe5ea065d5d6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/37099/result.json b/data/PartNet-Mobility/Chair/37099/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fb71ef058d769f11de55dddbdf4530b6a27fc03
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/result.json
@@ -0,0 +1 @@
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diff --git a/data/PartNet-Mobility/Chair/37099/result_after_merging.json b/data/PartNet-Mobility/Chair/37099/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..978af5a7a4dc29dbe42f7d69b88f7d7939c56d16
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/result_after_merging.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37099/semantics.txt b/data/PartNet-Mobility/Chair/37099/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..41bbf598d6cdbc98c030f203473d1272c243d5c8
--- /dev/null
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@@ -0,0 +1,17 @@
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/new-1.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fce15aebf0325f894fcd056c3d522c43114a7917
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..90f73a0f4918c634ef229366e9340102374452de
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/new-2.obj
new file mode 100644
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/new-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..90f73a0f4918c634ef229366e9340102374452de
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/new-7.mtl
@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/new-7.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/new-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fbb13ccd34c5aaffbc31ada8bdbc5c36394a26f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/new-7.obj
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/new-8.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/new-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..90f73a0f4918c634ef229366e9340102374452de
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/new-8.mtl
@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/new-8.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/new-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d341a35c3eef78c33b5b63f00b69b9cb5d42582f
--- /dev/null
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@@ -0,0 +1,171 @@
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-10.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b378e54a4aac2997ca9858fc62b6a72de714efc0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cc8de33eb31e0842b1a5ad0df9627596121919d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-13.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21ff44f2c88783254fe044c1d9872788982a760e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-14.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.2 0.2 0.2 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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+
diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c147e118883b5adcf748298034c60708881fb61
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-14.obj
@@ -0,0 +1,681 @@
+# SSTK version 0.8.0
+# 14
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-17.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c23358df847938444ca207e16c9a03858df0fdc1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-17.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-18.mtl
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+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-18.obj
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a2e25879ab1d8fe2dc9d08db8bc402cff4cc3bd
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e902de7fb74737fbe95cee6878c645cbaf701c1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-2.obj
@@ -0,0 +1,213 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-20.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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+
diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6d428bd7215971c5865c9ce86f71a6939bc73ac
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-20.obj
@@ -0,0 +1,721 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-22.obj
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index 0000000000000000000000000000000000000000..2ceb1d4c3c631f9c0c1afc2e69902ac32e9cb4cd
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-23.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..978494d24115a10cfd9d408aaebb784e67261645
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-23.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-24.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d52de65e9a93909a8ea9930fa6851de73ddd0ea4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-24.obj
@@ -0,0 +1,92 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-25.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1787e1f19523d95821491adad90f01b5d60457df
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-25.obj
@@ -0,0 +1,79 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-26.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3721357671b334a9d8c109ef4a3d126a36310eb3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-26.obj
@@ -0,0 +1,105 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-27.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc2a453cbecbe014bdd2cd1fc958c33427855257
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-27.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
+o mesh21/mesh21-geometry#mesh21-geometry
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-28.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0ff56f553dbf1de24267cd3916940f1122aa20f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-28.obj
@@ -0,0 +1,92 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-29.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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+
diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8a1eb0cef06907a7ffe46879b93b43c14a2798e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-29.obj
@@ -0,0 +1,92 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
+o mesh23/mesh23-geometry#mesh23-geometry
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0da43ced5cb2e90603d2862d0f922987ab382273
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-3.obj
@@ -0,0 +1,245 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o mesh2/mesh2-geometry#mesh2-geometry
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-30.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3f4139201d7f078d0d1f64b527bbf44d0c32cb3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-30.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-31.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6390eaf3e457a532652708a12cab8f1ac03c24fb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-31.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-32.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7989a0c59caf3a043e1f5ef184f8c33f322c4ad0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-32.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-33.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cea31552d02180c1d6db7fe6ca491be557419db
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-33.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-34.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..584b3a8d18ddf062d56f0c3d32a26c16ce4ec277
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-34.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-35.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a7d9b564a01a56cf674169bd2af9872fa0fdd2a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-35.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-36.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-36.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-36.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec3ff42cb1b57137fac68587c9abe60aea9ed5ef
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-36.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-39.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8d3cfeb2c2a3a59edfe833ad19a88b18d9eb37b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-39.obj
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-4.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.2 0.2 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7591b7c646edbe6df0c293d2e742db47507e0389
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-4.obj
@@ -0,0 +1,1033 @@
+# SSTK version 0.8.0
+# 4
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-40.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-40.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-40.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb2f97532fffd263fc8a273a4cca6e26dbc8467f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-40.obj
@@ -0,0 +1,183 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-42.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-42.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-42.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73bbb7301d21aa0613c29bf603f211f8c544cc3a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-42.obj
@@ -0,0 +1,101 @@
+# SSTK version 0.8.0
+# 42
+mtllib original-42.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-44.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-44.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-44.obj
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index 0000000000000000000000000000000000000000..5c8a8f0cfe42c01f3d5f4439a5a6609ea75c66af
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-45.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-45.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-45.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82d979b21464ca91d47fbd8a9adc263168d94a92
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-45.obj
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-46.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-46.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-46.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e8aac4460d1e757e55379f893248b234a81373d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-46.obj
@@ -0,0 +1,92 @@
+# SSTK version 0.8.0
+# 46
+mtllib original-46.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-47.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-47.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-47.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a22acf72199e820cd9fb1ac0e0ae11920e2b905
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-47.obj
@@ -0,0 +1,131 @@
+# SSTK version 0.8.0
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+mtllib original-47.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-48.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-48.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-48.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd393849dd6bf737636f297df725ba1dc8e04599
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-48.obj
@@ -0,0 +1,67 @@
+# SSTK version 0.8.0
+# 48
+mtllib original-48.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-49.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-49.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-49.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a65019aa675c340012442cc8ba4d2b7cf67348a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-49.obj
@@ -0,0 +1,90 @@
+# SSTK version 0.8.0
+# 49
+mtllib original-49.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-50.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-50.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-50.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e044c1bca336e5a9ced45089cd882c71fcdbf34
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-50.obj
@@ -0,0 +1,62 @@
+# SSTK version 0.8.0
+# 50
+mtllib original-50.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-51.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-51.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-51.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50be2338eb29a1bef58ba9521c4aea7de2f34a1d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-51.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
+o mesh43/mesh43-geometry#mesh43-geometry
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-52.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-52.mtl
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-52.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..634c32b9796ec6f4c52a99dd965185301dc22367
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-52.obj
@@ -0,0 +1,84 @@
+# SSTK version 0.8.0
+# 52
+mtllib original-52.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-53.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46fb021ae0ca6b30341b2c57f683d5adc98a177d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-53.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-53.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35c85739120da2648713b1b83904037a6d89e3de
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/37099/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37099/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/Chair/37099/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/37099/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e375eedcc8a923816a938b306627f8539968afd
--- /dev/null
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index 0000000000000000000000000000000000000000..d81cc43d03ba2f3390a779cb95cf61db28ce1fcc
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@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>47 back_surface Back Surface</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>48 back_support Back Support</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td><p>56 back_support Back Support</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>44 armrest_hard_surface Armrest Hard Surface</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 arm_connector Arm Connector</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>41 armrest_hard_surface Armrest Hard Surface</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 arm_connector Arm Connector</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>37 seat_surface Seat Surface</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>51 seat_frame Seat Frame</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>6 star_leg_base Star-shape Leg Base</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td><p>50 back_soft_surface Back Soft Surface</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>40 seat_soft_surface Seat Soft Surface</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>52 seat_frame_vertical_bar Seat Frame Vertical Bar</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 seat_frame_vertical_bar Seat Frame Vertical Bar</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 seat_frame_horizontal_bar Seat Frame Horizontal Bar</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 seat_frame_horizontal_bar Seat Frame Horizontal Bar</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>7 central_support Central Support</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 central_support Central Support</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 central_support Central Support</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 star_leg_set Star-shape Leg Set</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>36 seat_connector Seat Connector</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>39 seat_connector Seat Connector</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 leg Leg</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>19 caster Wheel Assembly</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>20 caster Wheel Assembly</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>33 caster_stem Caster Stem</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel Wheel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel Wheel</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>30 caster_stem Caster Stem</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel Wheel</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel Wheel</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>27 caster_stem Caster Stem</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 wheel Wheel</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel Wheel</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>24 caster_stem Caster Stem</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel Wheel</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 wheel Wheel</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>21 caster_stem Caster Stem</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 wheel Wheel</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 wheel Wheel</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>6 chair_arm chair_arm</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 chair_arm chair_arm</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>14 chair_seat chair_seat</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>22 chair_base chair_base</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_support back_support</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 back_support back_support</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>7 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 arm_connector arm_connector</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 arm_connector arm_connector</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>15 seat_surface seat_surface</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>17 seat_frame seat_frame</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>23 star_leg_base star_leg_base</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>18 seat_frame_bar seat_frame_bar</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 seat_frame_bar seat_frame_bar</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 seat_frame_bar seat_frame_bar</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 seat_frame_bar seat_frame_bar</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>24 central_support central_support</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 central_support central_support</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 central_support central_support</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 star_leg_set star_leg_set</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>28 leg leg</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 leg leg</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 leg leg</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 leg leg</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 leg leg</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 caster caster</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>37 caster caster</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>41 caster caster</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>45 caster caster</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>49 caster caster</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>34 caster_stem caster_stem</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel wheel</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 wheel wheel</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>38 caster_stem caster_stem</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 wheel wheel</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 wheel wheel</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>42 caster_stem caster_stem</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 wheel wheel</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 wheel wheel</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>46 caster_stem caster_stem</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 wheel wheel</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 wheel wheel</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>50 caster_stem caster_stem</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 wheel wheel</p><a href="parts_render_after_merging/51.png"><img src="parts_render_after_merging/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 wheel wheel</p><a href="parts_render_after_merging/52.png"><img src="parts_render_after_merging/52.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37247/bounding_box.json b/data/PartNet-Mobility/Chair/37247/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..2766dd8d4195a5ad7620c8ce20defb49e889f5e7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.563338, -0.71153, -0.509702], "max": [0.485989, 0.899864, 0.583036]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37247/meta.json b/data/PartNet-Mobility/Chair/37247/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f3f137c35ee847217db1f900851b0cb7e0873f1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/meta.json
@@ -0,0 +1 @@
+{"model_id": "484f0070df7d5375492d9da2668ec34c", "anno_id": "37247", "user_id": "shape01", "time_in_sec": "642", "version": "4", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37247/mobility.urdf b/data/PartNet-Mobility/Chair/37247/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d492c6de4ad480858dc932a2e038e9388f25523c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/mobility.urdf
@@ -0,0 +1,631 @@
+<?xml version="1.0" ?>
+<robot name="partnet_484f0070df7d5375492d9da2668ec34c">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="wheel-83">
+			<origin xyz="-0.3882982130918734 0.6695968715402502 -0.3883615999553967"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-84">
+			<origin xyz="-0.3882982130918734 0.6695968715402502 -0.3883615999553967"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3882982130918734 0.6695968715402502 -0.3883615999553967"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3882982130918734 0.6695968715402502 -0.3883615999553967"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.3882982130918734 -0.6695968715402502 0.3883615999553967"/>
+		<axis xyz="0.7071569111563146 -8.795232445660362e-06 -0.7070566476078873"/>
+		<child link="link_0"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-81">
+			<origin xyz="-0.45349305297408987 0.6686166421597345 0.23093715436942888"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-82">
+			<origin xyz="-0.45349305297408987 0.6686166421597345 0.23093715436942888"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.45349305297408987 0.6686166421597345 0.23093715436942888"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.45349305297408987 0.6686166421597345 0.23093715436942888"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.45349305297408987 -0.6686166421597345 -0.23093715436942888"/>
+		<axis xyz="-0.45396965310415505 -0.00015423388366032076 -0.8910171324236154"/>
+		<child link="link_1"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-79">
+			<origin xyz="0.07559632000516166 0.6689209300708564 0.47703858999108073"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-80">
+			<origin xyz="0.07559632000516166 0.6689209300708564 0.47703858999108073"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.07559632000516166 0.6689209300708564 0.47703858999108073"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.07559632000516166 0.6689209300708564 0.47703858999108073"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.07559632000516166 -0.6689209300708564 -0.47703858999108073"/>
+		<axis xyz="-0.9876832177195999 3.664213515128352e-05 0.15646680188593276"/>
+		<child link="link_2"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-77">
+			<origin xyz="0.5014841607944234 0.668715483997155 0.07938241910134095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-78">
+			<origin xyz="0.5014841607944234 0.668715483997155 0.07938241910134095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5014841607944234 0.668715483997155 0.07938241910134095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.5014841607944234 0.668715483997155 0.07938241910134095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.5014841607944234 -0.668715483997155 -0.07938241910134095"/>
+		<axis xyz="0.15632512471263457 1.7774726542298688e-05 -0.9877056520379128"/>
+		<child link="link_3"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-75">
+			<origin xyz="0.24890958064273377 0.6689823709129936 -0.4885572797977715"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-76">
+			<origin xyz="0.24890958064273377 0.6689823709129936 -0.4885572797977715"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.24890958064273377 0.6689823709129936 -0.4885572797977715"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.24890958064273377 0.6689823709129936 -0.4885572797977715"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.24890958064273377 -0.6689823709129936 0.4885572797977715"/>
+		<axis xyz="-0.8910529873398336 5.353578203700192e-05 -0.4538992959750856"/>
+		<child link="link_4"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_5">
+		<visual name="seat_soft_surface-86">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface-94">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface-94">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_vertical_bar-91">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/new-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_vertical_bar-91">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_vertical_bar-91">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_vertical_bar-92">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_vertical_bar-92">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_vertical_bar-92">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_horizontal_bar-93">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-89">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-89">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-90">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-90">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/new-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-62">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-63">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-64">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-64">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-64">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-64">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-64">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-64">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-64">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-64">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-64">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-64">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-64">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-64">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-64">
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/new-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.004823793379306792 0 -0.0354715274105072"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</collision>
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+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_5"/>
+		<parent link="link_5_helper"/>
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+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-65">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-66">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-67">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
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+		<visual name="leg-68">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+			<origin xyz="0 0 0"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-34.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>
+	<link name="link_5_helper"/>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="0.004823793379306792 0 0.0354715274105072"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_5_helper"/>
+		<parent link="link_6"/>
+		<limit lower="0" upper="0.1"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/37247/mobility_v2.json b/data/PartNet-Mobility/Chair/37247/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d3bba54a7eb214a3ea1161a78ffd786a6858fe4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/mobility_v2.json
@@ -0,0 +1 @@
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diff --git a/data/PartNet-Mobility/Chair/37247/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/37247/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4d3bc2e845bcf54fa38e9f1e5f35da99fdf65253
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/37247/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/37247/point_sample/pts-10000.pts
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index 0000000000000000000000000000000000000000..f56a72a6f95174113aef6d74d79e07f80fc80a9e
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diff --git a/data/PartNet-Mobility/Chair/37247/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/37247/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ce1f8fa29453598fc9783ace298981766f004018
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diff --git a/data/PartNet-Mobility/Chair/37247/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/37247/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1c220a9d3b841b3539b6c644458f34fb81b6bc39
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/37247/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/37247/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4c7e9fdbf1a89348f5109bc048955ab25d3b658e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/37247/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/37247/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a61ab8a9fb5eeb9103c196cce5ff80c2963f4a12
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/37247/result.json b/data/PartNet-Mobility/Chair/37247/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b59b2695f81e41ace405bec6035337b9e739e0f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-40", "original-37"], "id": 94, "name": "back_soft_surface"}], "id": 87, "name": "back_surface"}, {"text": "Back Frame", "children": [{"text": "Back Frame Vertical Bar", "objs": ["new-12", "original-36", "new-8"], "id": 91, "name": "back_frame_vertical_bar"}, {"text": "Back Frame Vertical Bar", "objs": ["new-9", "original-39", "new-6"], "id": 92, "name": "back_frame_vertical_bar"}, {"text": "Back Frame Horizontal Bar", "objs": ["new-7"], "id": 93, "name": "back_frame_horizontal_bar"}], "id": 88, "name": "back_frame"}, {"text": "Back Connector", "objs": ["new-10", "new-2"], "id": 89, "name": "back_connector"}, {"text": "Back Connector", "objs": ["new-4", "new-11"], "id": 90, "name": "back_connector"}], "id": 1, "name": "chair_back"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-38"], "id": 86, "name": "seat_soft_surface"}], "id": 85, "name": "seat_surface"}], "id": 2, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-29"], "id": 58, "name": "central_support"}, {"text": "Central Support", "objs": ["new-0"], "id": 59, "name": "central_support"}, {"text": "Central Support", "objs": ["new-1"], "id": 60, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-27"], "id": 65, "name": "leg"}, {"text": "Leg", "objs": ["original-25"], "id": 66, "name": "leg"}, {"text": "Leg", "objs": ["original-30"], "id": 67, "name": "leg"}, {"text": "Leg", "objs": ["original-31"], "id": 68, "name": "leg"}, {"text": "Leg", "objs": ["original-34"], "id": 69, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-5"], "id": 83, "name": "wheel"}, {"text": "Wheel", "objs": ["original-6"], "id": 84, "name": "wheel"}], "id": 70, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-3"], "id": 81, "name": "wheel"}, {"text": "Wheel", "objs": ["original-2"], "id": 82, "name": "wheel"}], "id": 71, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-14"], "id": 79, "name": "wheel"}, {"text": "Wheel", "objs": ["original-15"], "id": 80, "name": "wheel"}], "id": 72, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-24"], "id": 77, "name": "wheel"}, {"text": "Wheel", "objs": ["original-17"], "id": 78, "name": "wheel"}], "id": 73, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-22"], "id": 75, "name": "wheel"}, {"text": "Wheel", "objs": ["original-23"], "id": 76, "name": "wheel"}], "id": 74, "name": "caster"}], "id": 61, "name": "star_leg_set"}, {"text": "Seat Connector", "objs": ["original-16"], "id": 62, "name": "seat_connector"}, {"text": "Seat Connector", "objs": ["original-4"], "id": 63, "name": "seat_connector"}, {"text": "Seat Connector", "objs": ["original-11", "original-9", "original-7", "original-28", "original-8", "original-18", "original-19", "original-33", "original-21", "original-20", "original-32", "original-10", "original-26"], "id": 64, "name": "seat_connector"}], "id": 5, "name": "star_leg_base"}], "id": 3, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37247/result_after_merging.json b/data/PartNet-Mobility/Chair/37247/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..2efac1de43e95d909d80f9a5878504b70561191c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/result_after_merging.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37247/semantics.txt b/data/PartNet-Mobility/Chair/37247/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..69cb62e569c0b8c2ee16157a729558d5c54809a1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/semantics.txt
@@ -0,0 +1,7 @@
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new file mode 100644
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+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/new-0.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/new-0.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/new-1.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/new-1.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/new-1.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/new-10.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/new-10.mtl
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/new-10.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/new-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aaa8a63450df911217e4ae72617766ff60b3df7
--- /dev/null
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/new-4.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/new-4.obj
new file mode 100644
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab2fff49e2a2f066800e1b7bca3ed8a2639c2986
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-10.obj
@@ -0,0 +1,17 @@
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+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-11.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..671388df772fe89137792b839b66d718bb684467
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-11.obj
@@ -0,0 +1,17 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o mesh11/mesh11-geometry#mesh11-geometry
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+v 0.238984 -0.205305 0.339675
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..755ffa024c201ca5dcd7e90a509711cb09064728
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-14.obj
@@ -0,0 +1,148 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bee622904d445f8628ad1ed431987aefd0c17a8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-15.obj
@@ -0,0 +1,138 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8def5d888bd87a9dada01f2b9613b8594cd418c1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-16.obj
@@ -0,0 +1,300 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2409e17665e129d5d4accbf598a378fa994eff9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-17.obj
@@ -0,0 +1,137 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d92f70ad015b90e7f680c22a9299b60b54ee2fa0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-18.obj
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-19.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6afd6d7655157eba7caa8561433bbbab8ee8857
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad9b286cef213981980f55db8fb2f387ff7cad9e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-2.obj
@@ -0,0 +1,137 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o mesh2/mesh2-geometry#mesh2-geometry
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57b68b9e1c91563306cb61e8a889305901b56186
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-20.obj
@@ -0,0 +1,17 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
+o mesh20/mesh20-geometry#mesh20-geometry
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4508e8fe044a9ae997b0a1a99e8ba19f6bf4bc35
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-21.obj
@@ -0,0 +1,17 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
+o mesh21/mesh21-geometry#mesh21-geometry
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2af9cec2afaae3ab2e6815902d9a7952b138d2bc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-22.obj
@@ -0,0 +1,148 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o mesh22/mesh22-geometry#mesh22-geometry
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b91aa31cf01449d4688a0e3d09a080c1b646cbc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-23.obj
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-24.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e178203680b996abcf1a82f66b259b53cb293e2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-25.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/Chair/37247/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e323d5a379ad8b39ca2a2f4b6ef77336a29b146d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-25.obj
@@ -0,0 +1,134 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
+o mesh25/mesh25-geometry#mesh25-geometry
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56d0b774721db05dedaf0e95dab573dc01220777
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-26.obj
@@ -0,0 +1,17 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
+o mesh26/mesh26-geometry#mesh26-geometry
+v 0.340290 -0.163812 0.209698
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e6a653e464e6b402c1bce7c21a64e3b26a13e50
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-27.obj
@@ -0,0 +1,120 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
+o mesh27/mesh27-geometry#mesh27-geometry
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb54069315ca809c4af3f61bc942cb93729475bc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-28.obj
@@ -0,0 +1,121 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
+o mesh28/mesh28-geometry#mesh28-geometry
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-29.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-29.obj
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index 0000000000000000000000000000000000000000..4c25d76a599dbfe1582e386000bf174992d8da99
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d432a92888a6e5e3019ed8b44fa0da107c9cb989
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdddc10d95fa69362165b31c1cf0dfcfc9be85a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-30.obj
@@ -0,0 +1,127 @@
+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
+o mesh30/mesh30-geometry#mesh30-geometry
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b4741c5fa355084784298bb69815f6a141dd875
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-31.obj
@@ -0,0 +1,136 @@
+# SSTK version 0.8.0
+# 31
+mtllib original-31.mtl
+o mesh31/mesh31-geometry#mesh31-geometry
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c3599242d8547749ac5edde9bcc933e6085ac9e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-32.obj
@@ -0,0 +1,17 @@
+# SSTK version 0.8.0
+# 32
+mtllib original-32.mtl
+o mesh32/mesh32-geometry#mesh32-geometry
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-33.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2ced17480b4fc7c19ca5bd18f6a18d997f6fc21
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-33.obj
@@ -0,0 +1,119 @@
+# SSTK version 0.8.0
+# 33
+mtllib original-33.mtl
+o mesh33/mesh33-geometry#mesh33-geometry
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-34.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f706e3e7553fa94f793cdfe3fd88c79dd42b65
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-34.obj
@@ -0,0 +1,124 @@
+# SSTK version 0.8.0
+# 34
+mtllib original-34.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-36.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-36.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-36.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b6a5c8e83d35104cf0747215962ce7824cd1408
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-36.obj
@@ -0,0 +1,81 @@
+# SSTK version 0.8.0
+# 36
+mtllib original-36.mtl
+o mesh36/mesh36-geometry#mesh36-geometry
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-37.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6069f7d899c19b4a6fbf4c44ae44be4b7b536770
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-37.obj
@@ -0,0 +1,224 @@
+# SSTK version 0.8.0
+# 37
+mtllib original-37.mtl
+o mesh37/mesh37-geometry#mesh37-geometry
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-38.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..678bc43184595694dbb27983501a298e8526f7e1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-38.obj
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-39.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f30dc29967153651b0a13e56a8702e8c567d6234
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-39.obj
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e3b1343626091c4d95625a160bd833afd134b5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-4.obj
@@ -0,0 +1,300 @@
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+# 4
+mtllib original-4.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-40.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-40.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f8e70b447aaf625360ab7bbf51db7c48198fbe3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-40.obj
@@ -0,0 +1,324 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22930e39733ce959c241b54417a6e076a88e576f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..358ce2adf11751f8eb721ddae6983f9da0d6a393
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-7.mtl
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..270abc27203a5ca20dfe2af355e2077af2a7446b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60262f0471b342964efdc3dd2ad487d01e87f934
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-8.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/37247/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-9.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/37247/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/37247/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af92774e7a8001ec7483b959e6e13d45e4d073a3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/textured_objs/original-9.obj
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+vn 0.9999992974823353 0.0011530003429974754 -0.00027500008180772375
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diff --git a/data/PartNet-Mobility/Chair/37247/tree_hier.html b/data/PartNet-Mobility/Chair/37247/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..ea727d994e301b7105aee36053965253ea550d2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_seat Chair Seat</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>3 chair_base Chair Base</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td></tr><tr><td><p>87 back_surface Back Surface</p><a href="parts_render/87.png"><img src="parts_render/87.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>88 back_frame Back Frame</p><a href="parts_render/88.png"><img src="parts_render/88.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>89 back_connector Back Connector</p><a href="parts_render/89.png"><img src="parts_render/89.png" width="100px" height="100px"/></a></td><td></td><td><p>90 back_connector Back Connector</p><a href="parts_render/90.png"><img src="parts_render/90.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>85 seat_surface Seat Surface</p><a href="parts_render/85.png"><img src="parts_render/85.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>5 star_leg_base Star-shape Leg Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>94 back_soft_surface Back Soft Surface</p><a href="parts_render/94.png"><img src="parts_render/94.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>91 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/91.png"><img src="parts_render/91.png" width="100px" height="100px"/></a></td><td></td><td><p>92 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/92.png"><img src="parts_render/92.png" width="100px" height="100px"/></a></td><td></td><td><p>93 back_frame_horizontal_bar Back Frame Horizontal Bar</p><a href="parts_render/93.png"><img src="parts_render/93.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>86 seat_soft_surface Seat Soft Surface</p><a href="parts_render/86.png"><img src="parts_render/86.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>58 central_support Central Support</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 central_support Central Support</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 central_support Central Support</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 star_leg_set Star-shape Leg Set</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>62 seat_connector Seat Connector</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 seat_connector Seat Connector</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 seat_connector Seat Connector</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>65 leg Leg</p><a href="parts_render/65.png"><img src="parts_render/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 leg Leg</p><a href="parts_render/66.png"><img src="parts_render/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 leg Leg</p><a href="parts_render/67.png"><img src="parts_render/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 leg Leg</p><a href="parts_render/68.png"><img src="parts_render/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 leg Leg</p><a href="parts_render/69.png"><img src="parts_render/69.png" width="100px" height="100px"/></a></td><td></td><td><p>70 caster Wheel Assembly</p><a href="parts_render/70.png"><img src="parts_render/70.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>71 caster Wheel Assembly</p><a href="parts_render/71.png"><img src="parts_render/71.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>72 caster Wheel Assembly</p><a href="parts_render/72.png"><img src="parts_render/72.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>73 caster Wheel Assembly</p><a href="parts_render/73.png"><img src="parts_render/73.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>74 caster Wheel Assembly</p><a href="parts_render/74.png"><img src="parts_render/74.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>83 wheel Wheel</p><a href="parts_render/83.png"><img src="parts_render/83.png" width="100px" height="100px"/></a></td><td></td><td><p>84 wheel Wheel</p><a href="parts_render/84.png"><img src="parts_render/84.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>81 wheel Wheel</p><a href="parts_render/81.png"><img src="parts_render/81.png" width="100px" height="100px"/></a></td><td></td><td><p>82 wheel Wheel</p><a href="parts_render/82.png"><img src="parts_render/82.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>79 wheel Wheel</p><a href="parts_render/79.png"><img src="parts_render/79.png" width="100px" height="100px"/></a></td><td></td><td><p>80 wheel Wheel</p><a href="parts_render/80.png"><img src="parts_render/80.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>77 wheel Wheel</p><a href="parts_render/77.png"><img src="parts_render/77.png" width="100px" height="100px"/></a></td><td></td><td><p>78 wheel Wheel</p><a href="parts_render/78.png"><img src="parts_render/78.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>75 wheel Wheel</p><a href="parts_render/75.png"><img src="parts_render/75.png" width="100px" height="100px"/></a></td><td></td><td><p>76 wheel Wheel</p><a href="parts_render/76.png"><img src="parts_render/76.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37247/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/37247/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..058ce8b88a1b51cf429512d2a810f4ae2d940fe4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37247/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 chair_seat chair_seat</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>13 chair_base chair_base</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_frame back_frame</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 back_connector back_connector</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 back_connector back_connector</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 seat_surface seat_surface</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>14 star_leg_base star_leg_base</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 back_frame_vertical_bar back_frame_vertical_bar</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 back_frame_vertical_bar back_frame_vertical_bar</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 back_frame_horizontal_bar back_frame_horizontal_bar</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>12 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>15 central_support central_support</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 central_support central_support</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 central_support central_support</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 star_leg_set star_leg_set</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>19 leg leg</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 leg leg</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 leg leg</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 leg leg</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 leg leg</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 caster caster</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>27 caster caster</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>30 caster caster</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>33 caster caster</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>36 caster caster</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>25 wheel wheel</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 wheel wheel</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>28 wheel wheel</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel wheel</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>31 wheel wheel</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel wheel</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>34 wheel wheel</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel wheel</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>37 wheel wheel</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 wheel wheel</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37351/bounding_box.json b/data/PartNet-Mobility/Chair/37351/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..69840aa402f8b2072bdee8cd9ab089c86dc42147
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@@ -0,0 +1 @@
+{"min": [-0.513643, -0.811636, -0.389956], "max": [0.506112, 0.882541, 0.599616]}
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new file mode 100644
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+++ b/data/PartNet-Mobility/Chair/37351/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:412c03f123bf6f719a500101e434bde362cc8dd3f7d50232e0b8115d6e991450
+size 28612
diff --git a/data/PartNet-Mobility/Chair/37351/images/texture_1.jpg b/data/PartNet-Mobility/Chair/37351/images/texture_1.jpg
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 7997
diff --git a/data/PartNet-Mobility/Chair/37351/meta.json b/data/PartNet-Mobility/Chair/37351/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab725f2a34310f2d2896d8311982a663f77708c4
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+++ b/data/PartNet-Mobility/Chair/37351/meta.json
@@ -0,0 +1 @@
+{"model_id": "4a0e7f1129a9172349bb1cbbf9a4206", "anno_id": "37351", "user_id": "zhangyu", "time_in_sec": "211", "version": "3", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37351/mobility.urdf b/data/PartNet-Mobility/Chair/37351/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..86b260a3b3c0f8e82b8b991bc00684af33ee6d63
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/mobility.urdf
@@ -0,0 +1,564 @@
+<?xml version="1.0" ?>
+<robot name="partnet_4a0e7f1129a9172349bb1cbbf9a4206">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever-40">
+			<origin xyz="-0.0352556225610897 0.23962894439376337 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-40">
+			<origin xyz="-0.0352556225610897 0.23962894439376337 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0352556225610897 0.23962894439376337 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0352556225610897 0.23962894439376337 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.04099728553255576 -0.23962894439376337 -0.137354"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_16"/>
+		<limit lower="-0.0" upper="0.28274333882308117"/>
+	</joint>
+	<link name="link_1">
+		<visual name="caster_yoke-34">
+			<origin xyz="0.4702243404612645 0 0.014066332126185573"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4702243404612645 0 0.014066332126185573"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.4702243404612645 0 -0.014066332126185573"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-35">
+			<origin xyz="0.0032866996181773263 0.772863 -0.06253552888804348"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0032866996181773263 0.772863 -0.06253552888804348"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.46693764084308714 -0.772863 0.07660186101422906"/>
+		<axis xyz="0.9986217188320262 0 0.05248488046065899"/>
+		<child link="link_2"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-36">
+			<origin xyz="0.0032866996181773263 0.772863 -0.06253552888804348"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0032866996181773263 0.772863 -0.06253552888804348"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.46693764084308714 -0.772863 0.07660186101422906"/>
+		<axis xyz="0.9986217188320262 0 0.05248488046065899"/>
+		<child link="link_3"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_4">
+		<visual name="caster_yoke-31">
+			<origin xyz="0.005602825663983798 0 0.35405603427439913"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.005602825663983798 0 0.35405603427439913"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.005602825663983798 0 -0.35405603427439913"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-32">
+			<origin xyz="-0.034303488765546786 0.772863 0.009174155484019026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.034303488765546786 0.772863 0.009174155484019026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.03990631442953058 -0.772863 0.3448818787903801"/>
+		<axis xyz="0.2583608512573264 0 0.9660484824984664"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-33">
+			<origin xyz="-0.034303488765546786 0.772863 0.009174155484019026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.034303488765546786 0.772863 0.009174155484019026"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.03990631442953058 -0.772863 0.3448818787903801"/>
+		<axis xyz="0.2583608512573264 0 0.9660484824984664"/>
+		<child link="link_6"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_7">
+		<visual name="caster_yoke-28">
+			<origin xyz="-0.4642455214262008 0 0.01550280421972273"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4642455214262008 0 0.01550280421972273"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.4642455214262008 0 -0.01550280421972273"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_7"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-29">
+			<origin xyz="-0.10334528877661077 0.772863 -0.1587143807625834"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.10334528877661077 0.772863 -0.1587143807625834"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.36090023264959004 -0.772863 0.17421718498230612"/>
+		<axis xyz="0.8380068051995052 0 -0.5456597790192336"/>
+		<child link="link_8"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-30">
+			<origin xyz="-0.10334528877661077 0.772863 -0.1587143807625834"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.10334528877661077 0.772863 -0.1587143807625834"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.36090023264959004 -0.772863 0.17421718498230612"/>
+		<axis xyz="0.8380068051995052 0 -0.5456597790192336"/>
+		<child link="link_9"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_10">
+		<visual name="caster_yoke-25">
+			<origin xyz="-0.2819009470939636 0 -0.5357739904522907"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2819009470939636 0 -0.5357739904522907"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.2819009470939636 0 0.5357739904522907"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_10"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel-26">
+			<origin xyz="0.11609278849193974 0.772863 -0.14306547652663584"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.11609278849193974 0.772863 -0.14306547652663584"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="-0.39799373558590334 -0.772863 -0.39270851392565487"/>
+		<axis xyz="0.7765067554030447 0 0.630108926149627"/>
+		<child link="link_11"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_12">
+		<visual name="wheel-27">
+			<origin xyz="0.11609278849193974 0.772863 -0.14306547652663584"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.11609278849193974 0.772863 -0.14306547652663584"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="-0.39799373558590334 -0.772863 -0.39270851392565487"/>
+		<axis xyz="0.7765067554030447 0 0.630108926149627"/>
+		<child link="link_12"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_13">
+		<visual name="caster_yoke-22">
+			<origin xyz="0.292604115605354 0 -0.5331419283151627"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.292604115605354 0 -0.5331419283151627"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="-0.292604115605354 0 0.5331419283151627"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_13"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_14">
+		<visual name="wheel-23">
+			<origin xyz="0.029593950997275072 0.772863 0.011328520801590587"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.029593950997275072 0.772863 0.011328520801590587"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="0.2630101646080789 -0.772863 -0.5444704491167534"/>
+		<axis xyz="-0.35750050449219123 0 0.9339129452405234"/>
+		<child link="link_14"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_15">
+		<visual name="wheel-24">
+			<origin xyz="0.029593950997275072 0.772863 0.011328520801590587"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.029593950997275072 0.772863 0.011328520801590587"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="0.2630101646080789 -0.772863 -0.5444704491167534"/>
+		<axis xyz="-0.35750050449219123 0 0.9339129452405234"/>
+		<child link="link_15"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_16">
+		<visual name="arm_holistic_frame-46">
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-45">
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface-48">
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_holistic_frame-50">
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-43">
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-44">
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-38">
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-41">
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-41">
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005741662971466052 0 -0.137354"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_16"/>
+		<parent link="link_16_helper"/>
+	</joint>
+	<link name="link_17">
+		<visual name="central_support-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_17"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_16_helper"/>
+	<joint name="joint_18" type="prismatic">
+		<origin xyz="-0.005741662971466052 0 0.137354"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_16_helper"/>
+		<parent link="link_17"/>
+		<limit lower="0" upper="0.008000000000000007"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/37351/mobility_v2.json b/data/PartNet-Mobility/Chair/37351/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d133138bc61808cd052962c9a4fe11e6c29f0409
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":16,"joint":"hinge","name":"lever","parts":[{"id":40,"name":"lever","children":[]}],"jointData":{"axis":{"origin":[0.0352556225610897,-0.23962894439376337,0],"direction":[0,0,1]},"limit":{"a":0,"b":-16.19999999999999,"noLimit":false}}},{"id":1,"parent":17,"joint":"hinge","name":"caster_yoke","parts":[{"id":34,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.4702243404612645,0,-0.014066332126185573],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":1,"joint":"hinge","name":"wheel","parts":[{"id":35,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.0032866996181773263,-0.772863,0.06253552888804348],"direction":[0.9986217188320262,0,0.05248488046065899]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":1,"joint":"hinge","name":"wheel","parts":[{"id":36,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.0032866996181773263,-0.772863,0.06253552888804348],"direction":[0.9986217188320262,0,0.05248488046065899]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":17,"joint":"hinge","name":"caster_yoke","parts":[{"id":31,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.005602825663983798,0,-0.35405603427439913],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":32,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.034303488765546786,-0.772863,-0.009174155484019026],"direction":[0.2583608512573264,0,0.9660484824984664]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":33,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.034303488765546786,-0.772863,-0.009174155484019026],"direction":[0.2583608512573264,0,0.9660484824984664]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":17,"joint":"hinge","name":"caster_yoke","parts":[{"id":28,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.4642455214262008,0,-0.01550280421972273],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":29,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.10334528877661077,-0.772863,0.1587143807625834],"direction":[0.8380068051995052,0,-0.5456597790192336]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":30,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.10334528877661077,-0.772863,0.1587143807625834],"direction":[0.8380068051995052,0,-0.5456597790192336]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":17,"joint":"hinge","name":"caster_yoke","parts":[{"id":25,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.2819009470939636,0,0.5357739904522907],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":26,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.11609278849193974,-0.772863,0.14306547652663584],"direction":[0.7765067554030447,0,0.630108926149627]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":27,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.11609278849193974,-0.772863,0.14306547652663584],"direction":[0.7765067554030447,0,0.630108926149627]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":13,"parent":17,"joint":"hinge","name":"caster_yoke","parts":[{"id":22,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.292604115605354,0,0.5331419283151627],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":14,"parent":13,"joint":"hinge","name":"wheel","parts":[{"id":23,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.029593950997275072,-0.772863,-0.011328520801590587],"direction":[-0.35750050449219123,0,0.9339129452405234]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":15,"parent":13,"joint":"hinge","name":"wheel","parts":[{"id":24,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.029593950997275072,-0.772863,-0.011328520801590587],"direction":[-0.35750050449219123,0,0.9339129452405234]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":16,"parent":17,"joint":"slider","name":"arm_holistic_frame","parts":[{"id":46,"name":"arm_holistic_frame","children":[]},{"id":45,"name":"arm_holistic_frame","children":[]},{"id":48,"name":"back_soft_surface","children":[]},{"id":50,"name":"back_holistic_frame","children":[]},{"id":43,"name":"seat_soft_surface","children":[]},{"id":44,"name":"seat_support","children":[]},{"id":38,"name":"central_support","children":[]},{"id":41,"name":"mounting_plate","children":[]}],"jointData":{"axis":{"origin":[-0.005741662971466052,0,0.137354],"direction":[0,-1,0]},"limit":{"a":0,"b":0.008000000000000007,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":17,"parent":-1,"joint":"free","name":"centr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\ No newline at end of file
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+version https://git-lfs.github.com/spec/v1
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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diff --git a/data/PartNet-Mobility/Chair/37351/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/37351/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9f559d40d7d7cf8e673141422914658b3978e5f3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/point_sample/ply-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/37351/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/37351/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..011387f3613dde07618ce98addb715f7eb3fccde
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/37351/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/37351/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a3b2937475cf2456a04f33927bd8932a557d382c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/37351/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/37351/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..92def82b4a1be8632f6c92c37ad6eeea3a5e59a9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/37351/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/37351/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0a27832ce117d337fa16166ceaef2c9d9ae06e50
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/37351/result.json b/data/PartNet-Mobility/Chair/37351/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..a30f6c33b3cfe3250880823ed6b800de71a891bb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-9"], "id": 48, "name": "back_soft_surface"}], "id": 47, "name": "back_surface"}, {"text": "Back Frame", "children": [{"text": "Back Holistic Frame", "objs": ["original-32"], "id": 50, "name": "back_holistic_frame"}], "id": 49, "name": "back_frame"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-101"], "id": 46, "name": "arm_holistic_frame"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-102"], "id": 45, "name": "arm_holistic_frame"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-3"], "id": 43, "name": "seat_soft_surface"}], "id": 42, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-6"], "id": 44, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-98"], "id": 9, "name": "central_support"}, {"text": "Central Support", "objs": ["original-33"], "id": 10, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-36"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-89"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-69"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["original-58"], "id": 15, "name": "leg"}, {"text": "Leg", "objs": ["original-56"], "id": 16, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-49"], "id": 34, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-55"], "id": 35, "name": "wheel"}, {"text": "Wheel", "objs": ["original-54"], "id": 36, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-39"], "id": 31, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-45"], "id": 32, "name": "wheel"}, {"text": "Wheel", "objs": ["original-44"], "id": 33, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-82"], "id": 28, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-88"], "id": 29, "name": "wheel"}, {"text": "Wheel", "objs": ["original-87"], "id": 30, "name": "wheel"}], "id": 19, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-72"], "id": 25, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-78"], "id": 26, "name": "wheel"}, {"text": "Wheel", "objs": ["original-77"], "id": 27, "name": "wheel"}], "id": 20, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-61"], "id": 22, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-67"], "id": 23, "name": "wheel"}, {"text": "Wheel", "objs": ["original-66"], "id": 24, "name": "wheel"}], "id": 21, "name": "caster"}], "id": 11, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["original-99"], "id": 37, "name": "central_support"}, {"text": "Central Support", "objs": ["original-97"], "id": 38, "name": "central_support"}, {"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-92", "original-93"], "id": 40, "name": "lever"}, {"text": "Mounting Plane", "objs": ["original-95", "original-100"], "id": 41, "name": "mounting_plate"}], "id": 39, "name": "mechanical_control"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37351/result_after_merging.json b/data/PartNet-Mobility/Chair/37351/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a79a8659088370de80731755a19b0ab08a307e0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "chair", "name": "chair", "id": 0, "ori_id": 0, "objs": ["original-9", "original-32", "original-101", "original-102", "original-3", "original-6", "original-98", "original-33", "original-36", "original-89", "original-69", "original-58", "original-56", "original-49", "original-55", "original-54", "original-39", "original-45", "original-44", "original-82", "original-88", "original-87", "original-72", "original-78", "original-77", "original-61", "original-67", "original-66", "original-99", "original-97", "original-92", "original-93", "original-95", "original-100"], "children": [{"text": "chair_back", "name": "chair_back", "id": 1, "ori_id": 1, "objs": ["original-9", "original-32"], "children": [{"text": "back_surface", "name": "back_surface", "id": 2, "ori_id": 47, "objs": ["original-9"], "children": [{"ori_id": 48, "id": 3, "text": "back_single_surface", "name": "back_single_surface", "objs": ["original-9"]}]}, {"text": "back_frame", "name": "back_frame", "id": 4, "ori_id": 49, "objs": ["original-32"], "children": [{"ori_id": 50, "id": 5, "text": "back_holistic_frame", "name": "back_holistic_frame", "objs": ["original-32"]}]}]}, {"text": "chair_arm", "name": "chair_arm", "id": 6, "ori_id": 2, "objs": ["original-101"], "children": [{"ori_id": 46, "id": 7, "text": "arm_holistic_frame", "name": "arm_holistic_frame", "objs": ["original-101"]}]}, {"text": "chair_arm", "name": "chair_arm", "id": 8, "ori_id": 3, "objs": ["original-102"], "children": [{"ori_id": 45, "id": 9, "text": "arm_holistic_frame", "name": "arm_holistic_frame", "objs": ["original-102"]}]}, {"text": "chair_seat", "name": "chair_seat", "id": 10, "ori_id": 4, "objs": ["original-3", "original-6"], "children": [{"text": "seat_surface", "name": "seat_surface", "id": 11, "ori_id": 42, "objs": ["original-3"], "children": [{"ori_id": 43, "id": 12, "text": "seat_single_surface", "name": "seat_single_surface", "objs": ["original-3"]}]}, {"ori_id": 44, "id": 13, "text": "seat_support", "name": "seat_support", "objs": ["original-6"]}]}, {"text": "chair_base", "name": "chair_base", "id": 14, "ori_id": 5, "objs": ["original-98", "original-33", "original-36", "original-89", "original-69", "original-58", "original-56", "original-49", "original-55", "original-54", "original-39", "original-45", "original-44", "original-82", "original-88", "original-87", "original-72", "original-78", "original-77", "original-61", "original-67", "original-66", "original-99", "original-97", "original-92", "original-93", "original-95", "original-100"], "children": [{"text": "star_leg_base", "name": "star_leg_base", "id": 15, "ori_id": 6, "objs": ["original-98", "original-33", "original-36", "original-89", "original-69", "original-58", "original-56", "original-49", "original-55", "original-54", "original-39", "original-45", "original-44", "original-82", "original-88", "original-87", "original-72", "original-78", "original-77", "original-61", "original-67", "original-66", "original-99", "original-97", "original-92", "original-93", "original-95", "original-100"], "children": [{"ori_id": 9, "id": 16, "text": "central_support", "name": "central_support", "objs": ["original-98"]}, {"ori_id": 10, "id": 17, "text": "central_support", "name": "central_support", "objs": ["original-33"]}, {"text": "star_leg_set", "name": "star_leg_set", "id": 18, "ori_id": 11, "objs": ["original-36", "original-89", "original-69", "original-58", "original-56", "original-49", "original-55", "original-54", "original-39", "original-45", "original-44", "original-82", "original-88", "original-87", "original-72", "original-78", "original-77", "original-61", "original-67", "original-66"], "children": [{"ori_id": 12, "id": 19, "text": "leg", "name": "leg", "objs": ["original-36"]}, {"ori_id": 13, "id": 20, "text": "leg", "name": "leg", "objs": ["original-89"]}, {"ori_id": 14, "id": 21, "text": "leg", "name": "leg", "objs": ["original-69"]}, {"ori_id": 15, "id": 22, "text": "leg", "name": "leg", "objs": ["original-58"]}, {"ori_id": 16, "id": 23, "text": "leg", "name": "leg", "objs": ["original-56"]}, {"text": "caster", "name": "caster", "id": 24, "ori_id": 17, "objs": ["original-49", "original-55", "original-54"], "children": [{"ori_id": 35, "id": 25, "text": "wheel", "name": "wheel", "objs": ["original-55"]}, {"ori_id": 36, "id": 26, "text": "wheel", "name": "wheel", "objs": ["original-54"]}]}, {"text": "caster", "name": "caster", "id": 27, "ori_id": 18, "objs": ["original-39", "original-45", "original-44"], "children": [{"ori_id": 32, "id": 28, "text": "wheel", "name": "wheel", "objs": ["original-45"]}, {"ori_id": 33, "id": 29, "text": "wheel", "name": "wheel", "objs": ["original-44"]}]}, {"text": "caster", "name": "caster", "id": 30, "ori_id": 19, "objs": ["original-82", "original-88", "original-87"], "children": [{"ori_id": 29, "id": 31, "text": "wheel", "name": "wheel", "objs": ["original-88"]}, {"ori_id": 30, "id": 32, "text": "wheel", "name": "wheel", "objs": ["original-87"]}]}, {"text": "caster", "name": "caster", "id": 33, "ori_id": 20, "objs": ["original-72", "original-78", "original-77"], "children": [{"ori_id": 26, "id": 34, "text": "wheel", "name": "wheel", "objs": ["original-78"]}, {"ori_id": 27, "id": 35, "text": "wheel", "name": "wheel", "objs": ["original-77"]}]}, {"text": "caster", "name": "caster", "id": 36, "ori_id": 21, "objs": ["original-61", "original-67", "original-66"], "children": [{"ori_id": 23, "id": 37, "text": "wheel", "name": "wheel", "objs": ["original-67"]}, {"ori_id": 24, "id": 38, "text": "wheel", "name": "wheel", "objs": ["original-66"]}]}]}, {"ori_id": 37, "id": 39, "text": "central_support", "name": "central_support", "objs": ["original-99"]}, {"ori_id": 38, "id": 40, "text": "central_support", "name": "central_support", "objs": ["original-97"]}, {"text": "mechanical_control", "name": "mechanical_control", "id": 41, "ori_id": 39, "objs": ["original-92", "original-93", "original-95", "original-100"], "children": [{"ori_id": 40, "id": 42, "text": "lever", "name": "lever", "objs": ["original-92", "original-93"]}]}]}]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37351/semantics.txt b/data/PartNet-Mobility/Chair/37351/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9d113ded1a0433c6292f13ff71fe03e95bdc9e21
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/semantics.txt
@@ -0,0 +1,18 @@
+link_0 hinge lever
+link_1 hinge caster
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge caster
+link_5 hinge wheel
+link_6 hinge wheel
+link_7 hinge caster
+link_8 hinge wheel
+link_9 hinge wheel
+link_10 hinge caster
+link_11 hinge wheel
+link_12 hinge wheel
+link_13 hinge caster
+link_14 hinge wheel
+link_15 hinge wheel
+link_16 slider+ seat
+link_17 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-100.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-100.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-100.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..564e69df94a1b74eacd67ef8033b963fa78e98cb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-100.obj
@@ -0,0 +1,615 @@
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-101.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-101.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-101.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-101.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63810c5fabd3ca6bbdecb09d07d99d908175d316
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-101.obj
@@ -0,0 +1,12787 @@
+# SSTK version 0.8.0
+# 101
+mtllib original-101.mtl
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-102.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-102.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-102.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-102.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4c5e88b8dfdc3e1c43f62cbc21e530d260b82e0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-102.obj
@@ -0,0 +1,12787 @@
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-3.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/Chair/37351/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1291792072ead27c280ea10d055c0c2a814c7dd0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-3.obj
@@ -0,0 +1,30063 @@
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4836af3cc93070721494656728ae69ae024b4528
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-32.obj
@@ -0,0 +1,22170 @@
+# SSTK version 0.8.0
+# 32
+mtllib original-32.mtl
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-33.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc7cc6b4272e37bbd67288090262d974e646e186
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-33.obj
@@ -0,0 +1,3885 @@
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-36.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-36.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-36.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04e108a1c90e2ebb48ba15cef25e15a8b7ad4d34
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-36.obj
@@ -0,0 +1,753 @@
+# SSTK version 0.8.0
+# 36
+mtllib original-36.mtl
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-39.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfcb16705035eb39cf551d1dc97d25893b9b0825
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-39.obj
@@ -0,0 +1,4231 @@
+# SSTK version 0.8.0
+# 39
+mtllib original-39.mtl
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-44.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-44.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15767e30d46dab4548a605e9da82f03236c9d21e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-44.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 44
+mtllib original-44.mtl
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-45.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-45.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da5badd43ccaab7663e78d5480c6f663e4b2f2d0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-45.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-49.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-49.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-49.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e44febd560d62cfb43b54dc15e3f0402ff3170e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-49.obj
@@ -0,0 +1,4231 @@
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-54.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-54.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-54.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6d042596ac28bb8a63c150a462f216833fb1cea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-54.obj
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-55.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-55.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-55.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e89acf97adffea1c86184ebd546cc944fa010288
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-55.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 55
+mtllib original-55.mtl
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-56.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-56.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-56.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7acab8128a1f2b8b1da301da55d77d7e3524abfe
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-56.obj
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-58.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-58.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-58.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3622c7c0dc2e6fc7ef9577af0eb153f6fdcdc897
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-58.obj
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5d401231cfddaf902e0a3a80e73fbd21d4f866f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-6.obj
@@ -0,0 +1,9110 @@
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-61.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-61.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-61.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aaa83df1db7022d25714329350e9027b9ddad15
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-61.obj
@@ -0,0 +1,4231 @@
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-66.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-66.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-66.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d635861c24100c016d6bc9f5fc20e212140a49
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-66.obj
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-67.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-67.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-67.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..006c43c854612eab1e881dc5b351ab76a5ff9177
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-67.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 67
+mtllib original-67.mtl
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-69.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-69.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-69.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71fe98b0b42ad3c64c9edd31ac858df3fb734139
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-69.obj
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-72.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-72.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-72.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d54926c827b9f1c4ca5c5b602d5959ab6624f96
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-72.obj
@@ -0,0 +1,4229 @@
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-77.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-77.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-77.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-77.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6924674e35e54623d867939f2d616a9faeeaa4a5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-77.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-78.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-78.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-78.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-78.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2350499b196bacc0bc7f9249f35265523bd45be
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-78.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 78
+mtllib original-78.mtl
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-82.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-82.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-82.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cb4b2136f92d3b07635841e472cda239d7ead1f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-82.obj
@@ -0,0 +1,4231 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-87.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-87.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-87.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-87.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c28ee1a306c97a099cdddc89d25f50ebc7cf7865
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-87.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 87
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-88.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-88.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-88.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-88.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e1f7c53d0c59b909ad0bc7dc7a4b8e2bb5693bc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-88.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-89.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-89.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-89.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-89.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58485602de113947df3d39290c1ff114bbd373c5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-89.obj
@@ -0,0 +1,753 @@
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-9.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dbc6f53fa27634eb28221416f0de25c18b0417c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-92.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-92.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-92.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-92.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b128074f2c813802e4a6af4c4082d3855222266
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-92.obj
@@ -0,0 +1,1664 @@
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-93.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-93.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-93.mtl
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-93.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa75a63e9006c77983740a02765d9ed630190d28
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-93.obj
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-95.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-95.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-95.mtl
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-95.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d62f9bb1f26c952bdb370916129cb297c560a696
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-95.obj
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-98.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-98.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-98.mtl
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-98.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-98.obj
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index 0000000000000000000000000000000000000000..b600b72efd32b273b5a41ad97adf02ddab71df26
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-99.mtl b/data/PartNet-Mobility/Chair/37351/textured_objs/original-99.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/textured_objs/original-99.mtl
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diff --git a/data/PartNet-Mobility/Chair/37351/textured_objs/original-99.obj b/data/PartNet-Mobility/Chair/37351/textured_objs/original-99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e313f12be83b3a344107b4bbe3a6e32dd3a2205
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..0b54d3fc4c1a1c8de112fa3d2c758e7c988749a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>47 back_surface Back Surface</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>49 back_frame Back Frame</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>46 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>45 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>42 seat_surface Seat Surface</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>44 seat_support Seat Support</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 star_leg_base Star-shape Leg Base</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td><p>48 back_soft_surface Back Soft Surface</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>50 back_holistic_frame Back Holistic Frame</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>43 seat_soft_surface Seat Soft Surface</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>9 central_support Central Support</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 central_support Central Support</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 star_leg_set Star-shape Leg Set</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>37 central_support Central Support</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 central_support Central Support</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 mechanical_control Mechanical Control</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 leg Leg</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 leg Leg</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>19 caster Wheel Assembly</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>20 caster Wheel Assembly</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>21 caster Wheel Assembly</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>40 lever Lever</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 mounting_plate Mounting Plane</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>34 caster_yoke Caster Yoke</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel Wheel</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 wheel Wheel</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>31 caster_yoke Caster Yoke</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel Wheel</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel Wheel</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>28 caster_yoke Caster Yoke</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel Wheel</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 wheel Wheel</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>25 caster_yoke Caster Yoke</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 wheel Wheel</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 wheel Wheel</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>22 caster_yoke Caster Yoke</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 wheel Wheel</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 wheel Wheel</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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diff --git a/data/PartNet-Mobility/Chair/37351/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/37351/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..86717c091be3270604c8a51efb42d130d4fc0440
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37351/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>6 chair_arm chair_arm</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>8 chair_arm chair_arm</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>10 chair_seat chair_seat</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>14 chair_base chair_base</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_frame back_frame</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>7 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>9 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 seat_surface seat_surface</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>13 seat_support seat_support</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>15 star_leg_base star_leg_base</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 back_holistic_frame back_holistic_frame</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>12 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>16 central_support central_support</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 central_support central_support</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 star_leg_set star_leg_set</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>39 central_support central_support</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 central_support central_support</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 mechanical_control mechanical_control</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>19 leg leg</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 leg leg</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 leg leg</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 leg leg</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 leg leg</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 caster caster</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>27 caster caster</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>30 caster caster</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>33 caster caster</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>36 caster caster</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>42 lever lever</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>25 wheel wheel</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 wheel wheel</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>28 wheel wheel</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel wheel</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>31 wheel wheel</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel wheel</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>34 wheel wheel</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel wheel</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>37 wheel wheel</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 wheel wheel</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37825/bounding_box.json b/data/PartNet-Mobility/Chair/37825/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa19e4ede983edc603f6ba6ab1ff373006f5e4e9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37825/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.629598, -0.752848, -0.400699], "max": [0.582241, 0.866143, 0.772022]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37825/images/texture_0.jpg b/data/PartNet-Mobility/Chair/37825/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8e5d00169f1e47e5e7a85db7f664b328c1e6b50b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37825/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c80f92b5823d3963c562021e47a259e14338eed3f40f241dee32a7910024f790
+size 274
diff --git a/data/PartNet-Mobility/Chair/37825/images/texture_1.jpg b/data/PartNet-Mobility/Chair/37825/images/texture_1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..008da2a69ef86126fbb611e22ba6a8c3a875a9ad
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37825/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d2d3479dbf9cd5c1d84808433e7fe55f18098bab479d3db398ba8f801f80bf
+size 26561
diff --git a/data/PartNet-Mobility/Chair/37825/meta.json b/data/PartNet-Mobility/Chair/37825/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05d3427ccda86d705f7ce5fef7ff469ea091e5f1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37825/meta.json
@@ -0,0 +1 @@
+{"model_id": "53eaa7cca72c84f6cacd67ce2c72c02e", "anno_id": "37825", "user_id": "yzwangshuo", "time_in_sec": "660", "version": "8", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37825/mobility.urdf b/data/PartNet-Mobility/Chair/37825/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d28db9238534a542bd1bfd39c50e9956d5270a61
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37825/mobility.urdf
@@ -0,0 +1,675 @@
+<?xml version="1.0" ?>
+<robot name="partnet_53eaa7cca72c84f6cacd67ce2c72c02e">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="caster_yoke-34">
+			<origin xyz="0.3205405563420618 0 0.32499959396697"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3205405563420618 0 0.32499959396697"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.3205405563420618 0 -0.32499959396697"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-35">
+			<origin xyz="0.17555105057530057 0.6979004999999999 -0.08185603374894064"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.17555105057530057 0.6979004999999999 -0.08185603374894064"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.14498950576676123 -0.6979004999999999 0.4068556277159106"/>
+		<axis xyz="-0.4225980536300815 0 -0.9063172099591109"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-36">
+			<origin xyz="0.17555105057530057 0.6979004999999999 -0.08185603374894064"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.17555105057530057 0.6979004999999999 -0.08185603374894064"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.14498950576676123 -0.6979004999999999 0.4068556277159106"/>
+		<axis xyz="-0.4225980536300815 0 -0.9063172099591109"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_3">
+		<visual name="caster_yoke-31">
+			<origin xyz="-0.34141836560428135 0 0.32583743647253927"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.34141836560428135 0 0.32583743647253927"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.34141836560428135 0 -0.32583743647253927"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_3"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-32">
+			<origin xyz="-0.36807061219615006 0.6979005 0.17167561962734662"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.36807061219615006 0.6979005 0.17167561962734662"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="0.02665224659186871 -0.6979005 0.15416181684519265"/>
+		<axis xyz="-0.42270214322053723 0 -0.9062686677342237"/>
+		<child link="link_4"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-33">
+			<origin xyz="-0.36807061219615006 0.6979005 0.17167561962734662"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.36807061219615006 0.6979005 0.17167561962734662"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.02665224659186871 -0.6979005 0.15416181684519265"/>
+		<axis xyz="-0.42270214322053723 0 -0.9062686677342237"/>
+		<child link="link_5"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_6">
+		<visual name="caster_yoke-28">
+			<origin xyz="-0.548323424345853 0 -0.30401792968421754"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.548323424345853 0 -0.30401792968421754"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.548323424345853 0 0.30401792968421754"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_6"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-29">
+			<origin xyz="-0.29491880351460903 0.6979005 0.13752002204458236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.29491880351460903 0.6979005 0.13752002204458236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.253404620831244 -0.6979005 -0.4415379517287999"/>
+		<axis xyz="0.4226109897713038 0 0.9063111779761513"/>
+		<child link="link_7"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-30">
+			<origin xyz="-0.29491880351460903 0.6979005 0.13752002204458236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.29491880351460903 0.6979005 0.13752002204458236"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.253404620831244 -0.6979005 -0.4415379517287999"/>
+		<axis xyz="0.4226109897713038 0 0.9063111779761513"/>
+		<child link="link_8"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_9">
+		<visual name="caster_yoke-25">
+			<origin xyz="-0.010478781085554292 0 -0.6923901912751"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.010478781085554292 0 -0.6923901912751"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.010478781085554292 0 0.6923901912751"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_9"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel-26">
+			<origin xyz="0.2939932050017514 0.6979004999999999 -0.13714803508863144"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2939932050017514 0.6979004999999999 -0.13714803508863144"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.3044719860873057 -0.6979004999999999 -0.5552421561864687"/>
+		<axis xyz="-0.42276193742435536 0 -0.9062407760993793"/>
+		<child link="link_10"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel-27">
+			<origin xyz="0.2939932050017514 0.6979004999999999 -0.13714803508863144"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2939932050017514 0.6979004999999999 -0.13714803508863144"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="-0.3044719860873057 -0.6979004999999999 -0.5552421561864687"/>
+		<axis xyz="-0.42276193742435536 0 -0.9062407760993793"/>
+		<child link="link_11"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_12">
+		<visual name="caster_yoke-19">
+			<origin xyz="0.523650148095457 0 -0.30246644968039"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.523650148095457 0 -0.30246644968039"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="-0.523650148095457 0 0.30246644968039"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_12"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_13">
+		<visual name="wheel-20">
+			<origin xyz="0.584679337817746 0.6979004999999999 -0.2726347539305859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.584679337817746 0.6979004999999999 -0.2726347539305859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="-0.06102918972228899 -0.6979004999999999 -0.0298316957498041"/>
+		<axis xyz="0.42261098977130773 0 0.9063111779761495"/>
+		<child link="link_13"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_14">
+		<visual name="wheel-21">
+			<origin xyz="0.584679337817746 0.6979004999999999 -0.2726347539305859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.584679337817746 0.6979004999999999 -0.2726347539305859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="-0.06102918972228899 -0.6979004999999999 -0.0298316957498041"/>
+		<axis xyz="0.42261098977130773 0 0.9063111779761495"/>
+		<child link="link_14"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_15">
+		<visual name="back_soft_surface-54">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface-54">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface-54">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-53">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-49">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-49">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-49">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-50">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-50">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-51">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-46">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-46">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-46">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-47">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-47">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-48">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-58">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-57">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-37">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-37">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-55">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-55">
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011785 0 -0.1296245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_15"/>
+		<parent link="link_15_helper"/>
+	</joint>
+	<link name="link_16">
+		<visual name="central_support-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<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/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_16"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_15_helper"/>
+	<joint name="joint_17" type="prismatic">
+		<origin xyz="0.011785 0 0.1296245"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_15_helper"/>
+		<parent link="link_16"/>
+		<limit lower="0" upper="0.052000000000000046"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/37825/mobility_v2.json b/data/PartNet-Mobility/Chair/37825/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dcc92a944a91f08c0acfe3a43e6105c04fb8359
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/37825/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":16,"joint":"hinge","name":"caster_yoke","parts":[{"id":34,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.3205405563420618,0,-0.32499959396697],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":35,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.17555105057530057,-0.6979004999999999,0.08185603374894064],"direction":[-0.4225980536300815,0,-0.9063172099591109]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":36,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.17555105057530057,-0.6979004999999999,0.08185603374894064],"direction":[-0.4225980536300815,0,-0.9063172099591109]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":16,"joint":"hinge","name":"caster_yoke","parts":[{"id":31,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.34141836560428135,0,-0.32583743647253927],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":32,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.36807061219615006,-0.6979005,-0.17167561962734662],"direction":[-0.42270214322053723,0,-0.9062686677342237]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":33,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.36807061219615006,-0.6979005,-0.17167561962734662],"direction":[-0.42270214322053723,0,-0.9062686677342237]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":16,"joint":"hinge","name":"caster_yoke","parts":[{"id":28,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.548323424345853,0,0.30401792968421754],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":6,"joint":"hinge","name":"wheel","parts":[{"id":29,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.29491880351460903,-0.6979005,-0.13752002204458236],"direction":[0.4226109897713038,0,0.9063111779761513]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":6,"joint":"hinge","name":"wheel","parts":[{"id":30,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.29491880351460903,-0.6979005,-0.13752002204458236],"direction":[0.4226109897713038,0,0.9063111779761513]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":16,"joint":"hinge","name":"caster_yoke","parts":[{"id":25,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.010478781085554292,0,0.6923901912751],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":26,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.2939932050017514,-0.6979004999999999,0.13714803508863144],"direction":[-0.42276193742435536,0,-0.9062407760993793]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":27,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.2939932050017514,-0.6979004999999999,0.13714803508863144],"direction":[-0.42276193742435536,0,-0.9062407760993793]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":16,"joint":"hinge","name":"caster_yoke","parts":[{"id":19,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.523650148095457,0,0.30246644968039],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":13,"parent":12,"joint":"hinge","name":"wheel","parts":[{"id":20,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.584679337817746,-0.6979004999999999,0.2726347539305859],"direction":[0.42261098977130773,0,0.9063111779761495]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":14,"parent":12,"joint":"hinge","name":"wheel","parts":[{"id":21,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.584679337817746,-0.6979004999999999,0.2726347539305859],"direction":[0.42261098977130773,0,0.9063111779761495]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":15,"parent":16,"joint":"slider","name":"chair_back","parts":[{"id":54,"name":"back_soft_surface","children":[]},{"id":53,"name":"back_connector","children":[]},{"id":49,"name":"armrest_hard_surface","children":[]},{"id":50,"name":"arm_vertical_bar","children":[]},{"id":51,"name":"arm_connector","children":[]},{"id":46,"name":"armrest_hard_surface","children":[]},{"id":47,"name":"arm_vertical_bar","children":[]},{"id":48,"name":"arm_connector","children":[]},{"id":58,"name":"seat_soft_surface","children":[]},{"id":57,"name":"seat_support","children":[]},{"id":37,"name":"central_support","children":[]},{"id":55,"name":"seat_connector","children":[]}],"jointData":{"axis":{"origin":[0.011785,0,0.1296245],"direction":[0,-1,0]},"limit":{"a":0,"b":0.052000000000000046,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":16,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":7,"name":"central_support","children":[]},{"id":9,"name":"leg","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]}],"jointData":{}}]
\ No newline at end of file
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new file mode 100644
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+++ b/data/PartNet-Mobility/Chair/37825/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1 @@
+0 chair Sitting Furniture
\ No newline at end of file
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diff --git a/data/PartNet-Mobility/Chair/37825/parts_render/1.txt b/data/PartNet-Mobility/Chair/37825/parts_render/1.txt
new file mode 100644
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+++ b/data/PartNet-Mobility/Chair/37825/parts_render/1.txt
@@ -0,0 +1 @@
+1 chair_back Chair Back
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37825/parts_render/10.png b/data/PartNet-Mobility/Chair/37825/parts_render/10.png
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new file mode 100644
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+++ b/data/PartNet-Mobility/Chair/37825/parts_render/10.txt
@@ -0,0 +1 @@
+10 leg Leg
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/37825/parts_render/11.png b/data/PartNet-Mobility/Chair/37825/parts_render/11.png
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@@ -0,0 +1,3 @@
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+11 leg Leg
\ No newline at end of file
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@@ -0,0 +1 @@
+12 leg Leg
\ No newline at end of file
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@@ -0,0 +1 @@
+13 leg Leg
\ No newline at end of file
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+14 caster Wheel Assembly
\ No newline at end of file
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+15 caster Wheel Assembly
\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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