diff --git a/data/PartNet-Mobility/Chair/43074/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/43074/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ccf1a53d12f0730967cc78dc2b1693a9a2f4c002
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/point_sample/pts-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/43074/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/43074/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..643390f7eea59776cbbac8161c5c84ae64897e07
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/43074/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/43074/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e4472547162097ee1a6a0383e195a03e51c4d1f7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/43074/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/43074/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dd1959a17d15b19826cfb3cd266b863d8c41bc59
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/43074/result.json b/data/PartNet-Mobility/Chair/43074/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..61fb1c0536c1eba2db6173870eef2d0bcefae431
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-65"], "id": 54, "name": "back_soft_surface"}], "id": 51, "name": "back_surface"}, {"text": "Back Frame", "children": [{"text": "Back Holistic Frame", "objs": ["original-67"], "id": 53, "name": "back_holistic_frame"}], "id": 52, "name": "back_frame"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-79"], "id": 47, "name": "arm_holistic_frame"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-80"], "id": 46, "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": 57, "name": "seat_soft_surface"}], "id": 55, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-6"], "id": 56, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-70", "original-71"], "id": 35, "name": "lever"}, {"text": "Mounting Plane", "objs": ["original-73"], "id": 36, "name": "mounting_plate"}], "id": 8, "name": "mechanical_control"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-10"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-63"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-43"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-32"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-30"], "id": 14, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-23"], "id": 32, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-29"], "id": 33, "name": "wheel"}, {"text": "Wheel", "objs": ["original-28"], "id": 34, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-13"], "id": 29, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-19"], "id": 30, "name": "wheel"}, {"text": "Wheel", "objs": ["original-18"], "id": 31, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-56"], "id": 26, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-62"], "id": 27, "name": "wheel"}, {"text": "Wheel", "objs": ["original-61"], "id": 28, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-46"], "id": 23, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-52"], "id": 24, "name": "wheel"}, {"text": "Wheel", "objs": ["original-51"], "id": 25, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-35"], "id": 20, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-41"], "id": 21, "name": "wheel"}, {"text": "Wheel", "objs": ["original-40"], "id": 22, "name": "wheel"}], "id": 19, "name": "caster"}], "id": 9, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["original-7"], "id": 38, "name": "central_support"}, {"text": "Central Support", "objs": ["original-76"], "id": 39, "name": "central_support"}, {"text": "Central Support", "objs": ["original-77", "original-78", "original-75"], "id": 40, "name": "central_support"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/43074/result_after_merging.json b/data/PartNet-Mobility/Chair/43074/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..1197ebcd43d433c09b9edab8c781bb41a2e114f3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/result_after_merging.json
@@ -0,0 +1 @@
+[{"id": 0, "children": [{"id": 1, "children": [{"id": 2, "children": [{"name": "back_single_surface", "ori_id": 54, "id": 3, "objs": ["original-65"], "text": "back_single_surface"}], "ori_id": 51, "name": "back_surface", "objs": ["original-65"], "text": "back_surface"}, {"id": 4, "children": [{"name": "back_holistic_frame", "ori_id": 53, "id": 5, "objs": ["original-67"], "text": "back_holistic_frame"}], "ori_id": 52, "name": "back_frame", "objs": ["original-67"], "text": "back_frame"}], "ori_id": 1, "name": "chair_back", "objs": ["original-65", "original-67"], "text": "chair_back"}, {"id": 6, "children": [{"name": "arm_holistic_frame", "ori_id": 47, "id": 7, "objs": ["original-79"], "text": "arm_holistic_frame"}], "ori_id": 2, "name": "chair_arm", "objs": ["original-79"], "text": "chair_arm"}, {"id": 8, "children": [{"name": "arm_holistic_frame", "ori_id": 46, "id": 9, "objs": ["original-80"], "text": "arm_holistic_frame"}], "ori_id": 3, "name": "chair_arm", "objs": ["original-80"], "text": "chair_arm"}, {"id": 10, "children": [{"id": 11, "children": [{"name": "seat_single_surface", "ori_id": 57, "id": 12, "objs": ["original-3"], "text": "seat_single_surface"}], "ori_id": 55, "name": "seat_surface", "objs": ["original-3"], "text": "seat_surface"}, {"name": "seat_support", "ori_id": 56, "id": 13, "objs": ["original-6"], "text": "seat_support"}], "ori_id": 4, "name": "chair_seat", "objs": ["original-3", "original-6"], "text": "chair_seat"}, {"id": 14, "children": [{"id": 15, "children": [{"id": 16, "children": [{"name": "lever", "ori_id": 35, "id": 17, "objs": ["original-70", "original-71"], "text": "lever"}], "ori_id": 8, "name": "mechanical_control", "objs": ["original-70", "original-71", "original-73"], "text": "mechanical_control"}, {"id": 18, "children": [{"name": "leg", "ori_id": 10, "id": 19, "objs": ["original-10"], "text": "leg"}, {"name": "leg", "ori_id": 11, "id": 20, "objs": ["original-63"], "text": "leg"}, {"name": "leg", "ori_id": 12, "id": 21, "objs": ["original-43"], "text": "leg"}, {"name": "leg", "ori_id": 13, "id": 22, "objs": ["original-32"], "text": "leg"}, {"name": "leg", "ori_id": 14, "id": 23, "objs": ["original-30"], "text": "leg"}, {"id": 24, "children": [{"name": "wheel", "ori_id": 33, "id": 25, "objs": ["original-29"], "text": "wheel"}, {"name": "wheel", "ori_id": 34, "id": 26, "objs": ["original-28"], "text": "wheel"}], "ori_id": 15, "name": "caster", "objs": ["original-23", "original-29", "original-28"], "text": "caster"}, {"id": 27, "children": [{"name": "wheel", "ori_id": 30, "id": 28, "objs": ["original-19"], "text": "wheel"}, {"name": "wheel", "ori_id": 31, "id": 29, "objs": ["original-18"], "text": "wheel"}], "ori_id": 16, "name": "caster", "objs": ["original-13", "original-19", "original-18"], "text": "caster"}, {"id": 30, "children": [{"name": "wheel", "ori_id": 27, "id": 31, "objs": ["original-62"], "text": "wheel"}, {"name": "wheel", "ori_id": 28, "id": 32, "objs": ["original-61"], "text": "wheel"}], "ori_id": 17, "name": "caster", "objs": ["original-56", "original-62", "original-61"], "text": "caster"}, {"id": 33, "children": [{"name": "wheel", "ori_id": 24, "id": 34, "objs": ["original-52"], "text": "wheel"}, {"name": "wheel", "ori_id": 25, "id": 35, "objs": ["original-51"], "text": "wheel"}], "ori_id": 18, "name": "caster", "objs": ["original-46", "original-52", "original-51"], "text": "caster"}, {"id": 36, "children": [{"name": "wheel", "ori_id": 21, "id": 37, "objs": ["original-41"], "text": "wheel"}, {"name": "wheel", "ori_id": 22, "id": 38, "objs": ["original-40"], "text": "wheel"}], "ori_id": 19, "name": "caster", "objs": ["original-35", "original-41", "original-40"], "text": "caster"}], "ori_id": 9, "name": "star_leg_set", "objs": ["original-10", "original-63", "original-43", "original-32", "original-30", "original-23", "original-29", "original-28", "original-13", "original-19", "original-18", "original-56", "original-62", "original-61", "original-46", "original-52", "original-51", "original-35", "original-41", "original-40"], "text": "star_leg_set"}, {"name": "central_support", "ori_id": 38, "id": 39, "objs": ["original-7"], "text": "central_support"}, {"name": "central_support", "ori_id": 39, "id": 40, "objs": ["original-76"], "text": "central_support"}, {"name": "central_support", "ori_id": 40, "id": 41, "objs": ["original-77", "original-78", "original-75"], "text": "central_support"}], "ori_id": 6, "name": "star_leg_base", "objs": ["original-70", "original-71", "original-73", "original-10", "original-63", "original-43", "original-32", "original-30", "original-23", "original-29", "original-28", "original-13", "original-19", "original-18", "original-56", "original-62", "original-61", "original-46", "original-52", "original-51", "original-35", "original-41", "original-40", "original-7", "original-76", "original-77", "original-78", "original-75"], "text": "star_leg_base"}], "ori_id": 5, "name": "chair_base", "objs": ["original-70", "original-71", "original-73", "original-10", "original-63", "original-43", "original-32", "original-30", "original-23", "original-29", "original-28", "original-13", "original-19", "original-18", "original-56", "original-62", "original-61", "original-46", "original-52", "original-51", "original-35", "original-41", "original-40", "original-7", "original-76", "original-77", "original-78", "original-75"], "text": "chair_base"}], "ori_id": 0, "name": "chair", "objs": ["original-65", "original-67", "original-79", "original-80", "original-3", "original-6", "original-70", "original-71", "original-73", "original-10", "original-63", "original-43", "original-32", "original-30", "original-23", "original-29", "original-28", "original-13", "original-19", "original-18", "original-56", "original-62", "original-61", "original-46", "original-52", "original-51", "original-35", "original-41", "original-40", "original-7", "original-76", "original-77", "original-78", "original-75"], "text": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/43074/semantics.txt b/data/PartNet-Mobility/Chair/43074/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9d113ded1a0433c6292f13ff71fe03e95bdc9e21
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/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/43074/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-10.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/43074/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4e8fbaa925a49345ea199f709c2bb6cb501cfe8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-10.obj
@@ -0,0 +1,753 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..419326d0878ca1140be142e52fc30d461c0d47ae
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-13.obj
@@ -0,0 +1,4231 @@
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-18.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/43074/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96779eea2b90ccb34ad85858831433c7af12777d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-18.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 18
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-19.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/43074/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c543163b107638246763986f56c0f50987ab4e9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-19.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-23.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/43074/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..583760c5fd0c9fc40064447d91a2274c71d6e78f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-23.obj
@@ -0,0 +1,4231 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-28.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/43074/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..953d50649c1de7698df66ea0059d874b238557fd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-28.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cc86f0f3c59d93bd30d8ff674e47b73ba497c05
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-29.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/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/43074/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78906a46f8a7dff61d910ccaff98b26913c6c900
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-3.obj
@@ -0,0 +1,30063 @@
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-30.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/43074/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d2b9ef090ac85b0aa2a99c3919fcc0dd9ace1bd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-32.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/43074/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6377e15c71c28eab8868b12085c335253a74335
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/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/43074/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-35.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d39577cb16cec62841323f383fe5490b7a85f394
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-40.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-40.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/43074/textured_objs/original-40.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faca2a02203139dd8f0d6616c7a57bb8c78ceac6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-40.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-41.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-41.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/43074/textured_objs/original-41.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4952acddcfa3f7bd54dceb95f02a7f0595f2508
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-41.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-43.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-43.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/43074/textured_objs/original-43.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f148ba5c5043ae71804418b821e4502d76942bdb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-43.obj
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+f 115//223 111//215 118//215
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-46.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-46.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/43074/textured_objs/original-46.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..385370e12b10126d02f41d6e6c3843a1ba35a06a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-46.obj
@@ -0,0 +1,4229 @@
+# SSTK version 0.8.0
+# 46
+mtllib original-46.mtl
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-51.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-51.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/43074/textured_objs/original-51.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26418f7b3b98bee937f45b15c1c1d83639a7c4a8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-51.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-52.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-52.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/43074/textured_objs/original-52.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2efe233ea92c17e7a2b6c04c2bb1a347531b2557
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-52.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-56.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-56.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-56.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e05b099f4cf5a18e1a6f288737c0b286c35519cf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-56.obj
@@ -0,0 +1,4231 @@
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/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/43074/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1db78b7a83fd43a330dafe41174658903ef86b4f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-6.obj
@@ -0,0 +1,9110 @@
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-61.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-61.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/43074/textured_objs/original-61.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1c58ffaad4c9a9d712cbed6bc7f32b861769ce3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-61.obj
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-62.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-62.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/43074/textured_objs/original-62.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caea40240c945d4503ab4f4033df4aaf69423518
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-62.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 62
+mtllib original-62.mtl
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-63.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-63.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-63.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e06ae9385bbe7aa8c75380877f61895e1d657705
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-63.obj
@@ -0,0 +1,753 @@
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-65.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-65.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922008197e8dcddaa2df9f46dabe0e11bc9b8f5a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-67.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/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/43074/textured_objs/original-67.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1151061608445aab72193280e1012db25df7e01
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-67.obj
@@ -0,0 +1,59406 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-7.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/43074/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a9559e900bff59e302e06651fa3b83e795b471f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-7.obj
@@ -0,0 +1,3885 @@
+# SSTK version 0.8.0
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+mtllib original-7.mtl
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-70.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-70.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-70.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2d4d9facc6a2d5cb9cb4779b93a3a823357c2e5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-70.obj
@@ -0,0 +1,1664 @@
+# SSTK version 0.8.0
+# 70
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-71.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-71.mtl
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-71.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f937ca99277ce4f227bb9f8024a77eb8f1ac75a3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-71.obj
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-73.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-73.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bc1b99251d0efb0e49a58991eb1d8bbc436e8c0
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-75.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-75.mtl
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+map_Kd ../images/texture_1.jpg
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-75.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..622e18fd88d03a272288ebc943b374f4bd84481a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-75.obj
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-76.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-76.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4592667a2ac457f37f4f70f821c93804cd4b0a60
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-76.obj
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-77.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-77.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-77.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-77.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75975655b2439f7c6ae734d15d2d347177e7d813
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-77.obj
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-78.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-78.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-78.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-78.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31593dc6373886d512bb84f6d87ce16173ea5498
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-78.obj
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-79.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-79.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-79.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-79.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5f88e16e3362326d31b8931e5755575f9d7d87b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-79.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/43074/textured_objs/original-80.mtl b/data/PartNet-Mobility/Chair/43074/textured_objs/original-80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-80.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/43074/textured_objs/original-80.obj b/data/PartNet-Mobility/Chair/43074/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46d151479ce0e8b2088dbb4c92b2bfbbe324cc98
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/textured_objs/original-80.obj
@@ -0,0 +1,12787 @@
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diff --git a/data/PartNet-Mobility/Chair/43074/tree_hier.html b/data/PartNet-Mobility/Chair/43074/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..5d2338d6fadeb1a7bad4ce0e93224a96e5bb9159
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/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>51 back_surface Back Surface</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>52 back_frame Back Frame</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>47 arm_holistic_frame Arm Holistic Frame</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>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>55 seat_surface Seat Surface</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>56 seat_support Seat 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>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>54 back_soft_surface Back Soft Surface</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>53 back_holistic_frame Back Holistic Frame</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>57 seat_soft_surface Seat Soft Surface</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>8 mechanical_control Mechanical Control</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>9 star_leg_set Star-shape Leg Set</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>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 central_support Central Support</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 central_support Central Support</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td></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><p>35 lever Lever</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 mounting_plate Mounting Plane</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>10 leg Leg</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 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 caster Wheel Assembly</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></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></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>32 caster_yoke Caster Yoke</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel Wheel</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel Wheel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 caster_yoke Caster Yoke</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 wheel Wheel</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></td><td><p>26 caster_yoke Caster Yoke</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 wheel Wheel</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 wheel Wheel</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>23 caster_yoke Caster Yoke</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 wheel Wheel</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel Wheel</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>20 caster_yoke Caster Yoke</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 wheel Wheel</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 wheel Wheel</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/43074/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/43074/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..546428c0e87eeef2ac223a564cba12cecb7f3f0c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/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 mechanical_control mechanical_control</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 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 central_support central_support</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><p>17 lever lever</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><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><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/44441/bounding_box.json b/data/PartNet-Mobility/Chair/44441/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b99fede4992c2cad95b07cbd3126d7d7027e14e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.5658, -0.746421, -0.46633], "max": [0.524783, 0.769725, 0.652967]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44441/images/texture_0.jpg b/data/PartNet-Mobility/Chair/44441/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f86bfdead30cddd3aaddb6a62d554d44523808b3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f347be147f2f691852503ce28476ec2f73fc388730222d5703334d465f9867ba
+size 3235
diff --git a/data/PartNet-Mobility/Chair/44441/meta.json b/data/PartNet-Mobility/Chair/44441/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee0d15aee525efa8460138b46b925a769b645834
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/meta.json
@@ -0,0 +1 @@
+{"model_id": "f441e4f7f123bde3cd7677199133326a", "anno_id": "44441", "user_id": "yz_zhangcong", "time_in_sec": "320", "version": "4", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44441/mobility.urdf b/data/PartNet-Mobility/Chair/44441/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..07402986f68784c8c797e90b04268268b098210d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/mobility.urdf
@@ -0,0 +1,445 @@
+<?xml version="1.0" ?>
+<robot name="partnet_f441e4f7f123bde3cd7677199133326a">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever-46">
+			<origin xyz="0.05097081661224372 -0.04888400133589587 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.05097081661224372 -0.04888400133589587 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.06854231661224372 0.04888400133589587 -0.1048"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_13"/>
+		<limit lower="0.0" upper="0.3078760800517997"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lever-47">
+			<origin xyz="0.05097081661224372 -0.04888400133589587 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-47">
+			<origin xyz="0.05097081661224372 -0.04888400133589587 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.05097081661224372 -0.04888400133589587 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.05097081661224372 -0.04888400133589587 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.06854231661224372 0.04888400133589587 -0.1048"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_13"/>
+		<limit lower="0.0" upper="0.1759291886010284"/>
+	</joint>
+	<link name="link_2">
+		<visual name="knob-48">
+			<origin xyz="0 0.011370202439671918 -0.011472999999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-48">
+			<origin xyz="0 0.011370202439671918 -0.011472999999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.011370202439671918 -0.011472999999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.011370202439671918 -0.011472999999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.017571500000000004 -0.011370202439671918 -0.09332700000000001"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-44">
+			<origin xyz="0 0.6973761921110345 -0.1023115"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.6973761921110345 -0.1023115"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.5357695 -0.6973761921110345 -0.0006680000000000019"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_4">
+		<visual name="caster_stem-45">
+			<origin xyz="0.5357695 0 -0.1029795"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5357695 0 -0.1029795"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.5357695 0 0.1029795"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_5">
+		<visual name="caster_stem-39">
+			<origin xyz="0.1464405 0 0.419238"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.1464405 0 0.419238"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.1464405 0 -0.419238"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_5"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-40">
+			<origin xyz="0 0.6973765440253149 0.415556"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.6973765440253149 0.415556"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.1464405 -0.6973765440253149 0.0036820000000000186"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_6"/>
+		<parent link="link_5"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-37">
+			<origin xyz="0 0.6973765440253149 0.217807"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.6973765440253149 0.217807"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.4905885 -0.6973765440253149 0.0003630000000000022"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_7"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_8">
+		<visual name="caster_stem-38">
+			<origin xyz="-0.4905885 0 0.21817"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4905885 0 0.21817"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.4905885 0 -0.21817"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_8"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_9">
+		<visual name="caster_stem-31">
+			<origin xyz="-0.4905885 0 -0.427381"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4905885 0 -0.427381"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.4905885 0 0.427381"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_9"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel-32">
+			<origin xyz="0 0.6973765440253149 -0.417525"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.6973765440253149 -0.417525"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.4905885 -0.6973765440253149 -0.009856000000000031"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_10"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel-29">
+			<origin xyz="0 0.6973765440253149 -0.589011"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.6973765440253149 -0.589011"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="0.13930599999999999 -0.6973765440253149 -0.008421500000000082"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_11"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_12">
+		<visual name="caster_stem-30">
+			<origin xyz="0.13930599999999999 0 -0.5974325"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.13930599999999999 0 -0.5974325"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="-0.13930599999999999 0 0.5974325"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_12"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_13">
+		<visual name="seat_soft_surface-50">
+			<origin xyz="-0.017571500000000004 0 -0.1048"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface-55">
+			<origin xyz="-0.017571500000000004 0 -0.1048"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-54">
+			<origin xyz="-0.017571500000000004 0 -0.1048"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-11">
+			<origin xyz="-0.017571500000000004 0 -0.1048"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-56">
+			<origin xyz="-0.017571500000000004 0 -0.1048"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.017571500000000004 0 -0.1048"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.017571500000000004 0 -0.1048"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.017571500000000004 0 -0.1048"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.017571500000000004 0 -0.1048"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.017571500000000004 0 -0.1048"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_13"/>
+		<parent link="link_13_helper"/>
+	</joint>
+	<link name="link_14">
+		<visual name="central_support-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-19">
+			<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/original-6.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-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-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_14"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_13_helper"/>
+	<joint name="joint_15" type="prismatic">
+		<origin xyz="0.017571500000000004 0 0.1048"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_13_helper"/>
+		<parent link="link_14"/>
+		<limit lower="0" upper="0.08400000000000007"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/44441/mobility_v2.json b/data/PartNet-Mobility/Chair/44441/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fdf23adca03defca0b2709f44f511ca5db90ab6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":13,"joint":"hinge","name":"lever","parts":[{"id":46,"name":"lever","children":[]}],"jointData":{"axis":{"origin":[-0.05097081661224372,0.04888400133589587,0],"direction":[0,0,1]},"limit":{"a":0,"b":17.64,"noLimit":false}}},{"id":1,"parent":13,"joint":"hinge","name":"lever","parts":[{"id":47,"name":"lever","children":[]}],"jointData":{"axis":{"origin":[-0.05097081661224372,0.04888400133589587,0],"direction":[0,0,1]},"limit":{"a":0,"b":10.08,"noLimit":false}}},{"id":2,"parent":13,"joint":"hinge","name":"knob","parts":[{"id":48,"name":"knob","children":[]}],"jointData":{"axis":{"origin":[0,-0.011370202439671918,0.011472999999999999],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":44,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6973761921110345,0.1023115],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":14,"joint":"hinge","name":"caster_stem","parts":[{"id":45,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.5357695,0,0.1029795],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":14,"joint":"hinge","name":"caster_stem","parts":[{"id":39,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.1464405,0,-0.419238],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":5,"joint":"hinge","name":"wheel","parts":[{"id":40,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6973765440253149,-0.415556],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":37,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6973765440253149,-0.217807],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":14,"joint":"hinge","name":"caster_stem","parts":[{"id":38,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.4905885,0,-0.21817],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":14,"joint":"hinge","name":"caster_stem","parts":[{"id":31,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.4905885,0,0.427381],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":32,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6973765440253149,0.417525],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":12,"joint":"hinge","name":"wheel","parts":[{"id":29,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6973765440253149,0.589011],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":14,"joint":"hinge","name":"caster_stem","parts":[{"id":30,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.13930599999999999,0,0.5974325],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":13,"parent":14,"joint":"slider","name":"seat_soft_surface","parts":[{"id":50,"name":"seat_soft_surface","children":[]},{"id":55,"name":"back_soft_surface","children":[]},{"id":54,"name":"back_connector","children":[]},{"id":11,"name":"central_support","children":[]},{"id":56,"name":"mounting_plate","children":[]}],"jointData":{"axis":{"origin":[0.017571500000000004,0,0.1048],"direction":[0,-1,0]},"limit":{"a":0,"b":0.08400000000000007,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":14,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":10,"name":"central_support","children":[]},{"id":15,"name":"leg","children":[]},{"id":16,"name":"leg","children":[]},{"id":17,"name":"leg","children":[]},{"id":18,"name":"leg","children":[]},{"id":19,"name":"leg","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44441/parts_render/0.png b/data/PartNet-Mobility/Chair/44441/parts_render/0.png
new file mode 100644
index 0000000000000000000000000000000000000000..470972682cf8dfed3fcc01ea49d115431f38ba26
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f2c68d23ee33aee7c84ffbe8bf781220888cb7e37e59c2c6919debe53631497
+size 24319
diff --git a/data/PartNet-Mobility/Chair/44441/parts_render/0.txt b/data/PartNet-Mobility/Chair/44441/parts_render/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f189a29b5afe78bc8488f7a211443c5bf04a8e1c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/parts_render/0.txt
@@ -0,0 +1 @@
+0 chair Sitting Furniture
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44441/parts_render/10.png b/data/PartNet-Mobility/Chair/44441/parts_render/10.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea5a263a09997ef4244ec5ba34ee320b8ee4d1fa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/parts_render/10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6984502441a9388ba26cb46788d98f6f27699149c887254a486fbdd0b7f3789c
+size 18058
diff --git a/data/PartNet-Mobility/Chair/44441/parts_render/10.txt b/data/PartNet-Mobility/Chair/44441/parts_render/10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d922edfa85240011975fce522d47ee75791a94a4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/parts_render/10.txt
@@ -0,0 +1 @@
+10 central_support Central Support
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44441/parts_render/11.png b/data/PartNet-Mobility/Chair/44441/parts_render/11.png
new file mode 100644
index 0000000000000000000000000000000000000000..8bbca505bd3f62ad1a5ff0639d638768838c8857
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/parts_render/11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a3efccce255f83965e291a7ae28b785bc041fa02f536617935caa53978a145
+size 18416
diff --git a/data/PartNet-Mobility/Chair/44441/parts_render/11.txt b/data/PartNet-Mobility/Chair/44441/parts_render/11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..883c420d3c3d03ac713ba2f43881cec31ae0ffaa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/parts_render/11.txt
@@ -0,0 +1 @@
+11 central_support Central Support
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44441/parts_render/12.png b/data/PartNet-Mobility/Chair/44441/parts_render/12.png
new file mode 100644
index 0000000000000000000000000000000000000000..da0d176bf6cb91198a15cdb265d9a61ae114e080
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/parts_render/12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/data/PartNet-Mobility/Chair/44441/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/44441/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..d9901dd513d878054604cba764f7242ffea021a3
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44441/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/44441/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b525fc693286212b76c5774e7b27f14a019ef159
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44441/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/44441/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..37580d7fb8da972bb6f028f70397553313c72e16
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/44441/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/44441/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..868ea0f74aa349fa58c52a96fc1746f7bab42b94
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/44441/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Chair/44441/point_sample/sample-points-all-pts-nor-rgba-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..42f74daac236023f4d421a80b937b7ab38cd0c07
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diff --git a/data/PartNet-Mobility/Chair/44441/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/44441/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a99641f5ec3281468bb4f64663c1fb8ff4d31da9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/44441/result.json b/data/PartNet-Mobility/Chair/44441/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c154b063c45510de32c3d27de5f1c0ad0aa0ff9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-1"], "id": 55, "name": "back_soft_surface"}], "id": 53, "name": "back_surface"}, {"text": "Back Connector", "objs": ["original-2"], "id": 54, "name": "back_connector"}], "id": 6, "name": "chair_back"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-3"], "id": 50, "name": "seat_soft_surface"}], "id": 49, "name": "seat_surface"}], "id": 7, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-6"], "id": 10, "name": "central_support"}, {"text": "Central Support", "objs": ["original-10"], "id": 11, "name": "central_support"}, {"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-5"], "id": 46, "name": "lever"}, {"text": "Lever", "objs": ["original-21", "original-4"], "id": 47, "name": "lever"}, {"text": "Knob", "objs": ["original-23", "original-22"], "id": 48, "name": "knob"}, {"text": "Mounting Plane", "objs": ["original-9"], "id": 56, "name": "mounting_plate"}], "id": 12, "name": "mechanical_control"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["new-1"], "id": 15, "name": "leg"}, {"text": "Leg", "objs": ["new-0"], "id": 16, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 17, "name": "leg"}, {"text": "Leg", "objs": ["new-2"], "id": 18, "name": "leg"}, {"text": "Leg", "objs": ["new-4"], "id": 19, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-11"], "id": 44, "name": "wheel"}, {"text": "Caster Stem", "objs": ["original-12"], "id": 45, "name": "caster_stem"}], "id": 20, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-17"], "id": 39, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-16"], "id": 40, "name": "wheel"}], "id": 21, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-15"], "id": 37, "name": "wheel"}, {"text": "Caster Stem", "objs": ["original-18"], "id": 38, "name": "caster_stem"}], "id": 22, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-19"], "id": 31, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-14"], "id": 32, "name": "wheel"}], "id": 23, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-13"], "id": 29, "name": "wheel"}, {"text": "Caster Stem", "objs": ["original-20"], "id": 30, "name": "caster_stem"}], "id": 24, "name": "caster"}], "id": 13, "name": "star_leg_set"}], "id": 9, "name": "star_leg_base"}], "id": 8, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44441/result_after_merging.json b/data/PartNet-Mobility/Chair/44441/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..b541ae0e181106c8605e0b9a8cbfa09c9211565e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "chair", "id": 0, "children": [{"text": "chair_back", "id": 1, "children": [{"text": "back_surface", "id": 2, "children": [{"name": "back_single_surface", "text": "back_single_surface", "id": 3, "objs": ["original-1"], "ori_id": 55}], "ori_id": 53, "name": "back_surface", "objs": ["original-1"]}, {"name": "back_connector", "text": "back_connector", "id": 4, "objs": ["original-2"], "ori_id": 54}], "ori_id": 6, "name": "chair_back", "objs": ["original-1", "original-2"]}, {"text": "chair_seat", "id": 5, "children": [{"text": "seat_surface", "id": 6, "children": [{"name": "seat_single_surface", "text": "seat_single_surface", "id": 7, "objs": ["original-3"], "ori_id": 50}], "ori_id": 49, "name": "seat_surface", "objs": ["original-3"]}], "ori_id": 7, "name": "chair_seat", "objs": ["original-3"]}, {"text": "chair_base", "id": 8, "children": [{"text": "star_leg_base", "id": 9, "children": [{"name": "central_support", "text": "central_support", "id": 10, "objs": ["original-6"], "ori_id": 10}, {"name": "central_support", "text": "central_support", "id": 11, "objs": ["original-10"], "ori_id": 11}, {"text": "mechanical_control", "id": 12, "children": [{"name": "lever", "text": "lever", "id": 13, "objs": ["original-5"], "ori_id": 46}, {"name": "lever", "text": "lever", "id": 14, "objs": ["original-21", "original-4"], "ori_id": 47}, {"name": "knob", "text": "knob", "id": 15, "objs": ["original-23", "original-22"], "ori_id": 48}], "ori_id": 12, "name": "mechanical_control", "objs": ["original-5", "original-21", "original-4", "original-23", "original-22", "original-9"]}, {"text": "star_leg_set", "id": 16, "children": [{"name": "leg", "text": "leg", "id": 17, "objs": ["new-1"], "ori_id": 15}, {"name": "leg", "text": "leg", "id": 18, "objs": ["new-0"], "ori_id": 16}, {"name": "leg", "text": "leg", "id": 19, "objs": ["new-3"], "ori_id": 17}, {"name": "leg", "text": "leg", "id": 20, "objs": ["new-2"], "ori_id": 18}, {"name": "leg", "text": "leg", "id": 21, "objs": ["new-4"], "ori_id": 19}, {"text": "caster", "id": 22, "children": [{"name": "wheel", "text": "wheel", "id": 23, "objs": ["original-11"], "ori_id": 44}, {"name": "caster_stem", "text": "caster_stem", "id": 24, "objs": ["original-12"], "ori_id": 45}], "ori_id": 20, "name": "caster", "objs": ["original-11", "original-12"]}, {"text": "caster", "id": 25, "children": [{"name": "caster_stem", "text": "caster_stem", "id": 26, "objs": ["original-17"], "ori_id": 39}, {"name": "wheel", "text": "wheel", "id": 27, "objs": ["original-16"], "ori_id": 40}], "ori_id": 21, "name": "caster", "objs": ["original-17", "original-16"]}, {"text": "caster", "id": 28, "children": [{"name": "wheel", "text": "wheel", "id": 29, "objs": ["original-15"], "ori_id": 37}, {"name": "caster_stem", "text": "caster_stem", "id": 30, "objs": ["original-18"], "ori_id": 38}], "ori_id": 22, "name": "caster", "objs": ["original-15", "original-18"]}, {"text": "caster", "id": 31, "children": [{"name": "caster_stem", "text": "caster_stem", "id": 32, "objs": ["original-19"], "ori_id": 31}, {"name": "wheel", "text": "wheel", "id": 33, "objs": ["original-14"], "ori_id": 32}], "ori_id": 23, "name": "caster", "objs": ["original-19", "original-14"]}, {"text": "caster", "id": 34, "children": [{"name": "wheel", "text": "wheel", "id": 35, "objs": ["original-13"], "ori_id": 29}, {"name": "caster_stem", "text": "caster_stem", "id": 36, "objs": ["original-20"], "ori_id": 30}], "ori_id": 24, "name": "caster", "objs": ["original-13", "original-20"]}], "ori_id": 13, "name": "star_leg_set", "objs": ["new-1", "new-0", "new-3", "new-2", "new-4", "original-11", "original-12", "original-17", "original-16", "original-15", "original-18", "original-19", "original-14", "original-13", "original-20"]}], "ori_id": 9, "name": "star_leg_base", "objs": ["original-6", "original-10", "original-5", "original-21", "original-4", "original-23", "original-22", "original-9", "new-1", "new-0", "new-3", "new-2", "new-4", "original-11", "original-12", "original-17", "original-16", "original-15", "original-18", "original-19", "original-14", "original-13", "original-20"]}], "ori_id": 8, "name": "chair_base", "objs": ["original-6", "original-10", "original-5", "original-21", "original-4", "original-23", "original-22", "original-9", "new-1", "new-0", "new-3", "new-2", "new-4", "original-11", "original-12", "original-17", "original-16", "original-15", "original-18", "original-19", "original-14", "original-13", "original-20"]}], "ori_id": 0, "name": "chair", "objs": ["original-1", "original-2", "original-3", "original-6", "original-10", "original-5", "original-21", "original-4", "original-23", "original-22", "original-9", "new-1", "new-0", "new-3", "new-2", "new-4", "original-11", "original-12", "original-17", "original-16", "original-15", "original-18", "original-19", "original-14", "original-13", "original-20"]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44441/semantics.txt b/data/PartNet-Mobility/Chair/44441/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0a085199b5e186a6ccfe76b3685195c681ce9073
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..200ef8299521a61c77758625e9b3908a6f0c322f
--- /dev/null
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6947f56855dd62a78086349543b1243b505e360b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d2318dab152da958faa3631502632b4823edce3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-10.obj
@@ -0,0 +1,268 @@
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..231e813d307ce21512906932160e7cde8d237eb6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9832ed08066fd38aa236b06d44d30d9577d07c12
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..231e813d307ce21512906932160e7cde8d237eb6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-12.mtl
@@ -0,0 +1,14 @@
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78f9431f7e02ebb2a9e421c5f7f1a34100b5a75b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-12.obj
@@ -0,0 +1,70 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..231e813d307ce21512906932160e7cde8d237eb6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-13.mtl
@@ -0,0 +1,14 @@
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef0e1ad7fae10fee7fc2b13b54bf2658340e18a6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-13.obj
@@ -0,0 +1,294 @@
+# SSTK version 0.8.0
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+mtllib original-13.mtl
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..231e813d307ce21512906932160e7cde8d237eb6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-14.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..620d625e28f7a5966233a5e73bbf4e2713401c62
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-14.obj
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+# SSTK version 0.8.0
+# 14
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..231e813d307ce21512906932160e7cde8d237eb6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..602ecbcb2f40a9f4b484739ebe564492afa2a2a3
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..231e813d307ce21512906932160e7cde8d237eb6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-16.mtl
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18677cfe6777d83a4682f4635303231ced24c68e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..231e813d307ce21512906932160e7cde8d237eb6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-17.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87eb385d03d35eb86423b6063130857feb87ee6d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..231e813d307ce21512906932160e7cde8d237eb6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-18.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cf69b9c886df3900b6657b98d66033615d96166
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-18.obj
@@ -0,0 +1,66 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
+o mesh18/mesh18-geometry#mesh18-geometry
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..231e813d307ce21512906932160e7cde8d237eb6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-19.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..304ec9d27fb01ac29dc358ad2e773fd35db00e91
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-19.obj
@@ -0,0 +1,66 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6947f56855dd62a78086349543b1243b505e360b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b46efe584bd2b105847087037d6ee167cbc0ff01
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-2.obj
@@ -0,0 +1,268 @@
+# SSTK version 0.8.0
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+mtllib original-2.mtl
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..231e813d307ce21512906932160e7cde8d237eb6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-20.mtl
@@ -0,0 +1,14 @@
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7a0b78930e98c69c2224e13ae62a74a6b07f8de
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-20.obj
@@ -0,0 +1,70 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..07fe8c19cc4859a79b5c583cec77b6408167e5b6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-21.mtl
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1423a91335426140203073e02852532c307aa413
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-21.obj
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+# SSTK version 0.8.0
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+mtllib original-21.mtl
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..07fe8c19cc4859a79b5c583cec77b6408167e5b6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-22.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/44441/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91f92b449081f7e73e22b0e53ddb59eaff2ba9bb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-22.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..07fe8c19cc4859a79b5c583cec77b6408167e5b6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aaf7cd80ec382d9b0c4bb922cb798a897318726
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..07fe8c19cc4859a79b5c583cec77b6408167e5b6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-5.mtl
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51ded9befd3656d73ded9244c18c75b6952df534
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38cdcf47cbe5bff4e85e9b8c90d43eaae0ad1ed2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-6.mtl
@@ -0,0 +1,21 @@
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbcdca4416ad42c254751b4b86cf7612e92051e7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/44441/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..685bd54f42b9471d9156f9696929f57a050b88b3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-9.mtl
@@ -0,0 +1,21 @@
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diff --git a/data/PartNet-Mobility/Chair/44441/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/44441/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23a6fbb1eb3bca6a9b86a40da78b7c0ed27e3da2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/textured_objs/original-9.obj
@@ -0,0 +1,561 @@
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+f 91//1 78//1 89//1
+f 90//2 86//2 79//2
+f 90//75 88//75 95//75
+f 88//76 92//76 94//76
+f 92//2 80//2 93//2
+f 94//1 96//1 89//1
+f 95//1 94//1 83//1
+f 90//63 95//63 84//63
+f 93//76 91//76 96//76
+f 96//1 91//1 89//1
+f 88//76 94//76 95//76
+f 92//76 96//76 94//76
+f 92//76 93//76 96//76
+usemtl material_2_0
+f 71//11 66//11 70//11
+f 76//11 66//11 71//11
diff --git a/data/PartNet-Mobility/Chair/44441/tree_hier.html b/data/PartNet-Mobility/Chair/44441/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..6837f9049a86d38d108c78e17c0ae8311b4ad6d9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>6 chair_back Chair Back</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>7 chair_seat Chair Seat</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>8 chair_base Chair Base</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td></tr><tr><td><p>53 back_surface Back Surface</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>54 back_connector Back Connector</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>49 seat_surface Seat Surface</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>9 star_leg_base Star-shape Leg Base</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td></tr><tr><td><p>55 back_soft_surface Back Soft Surface</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></td><td></td><td><p>50 seat_soft_surface Seat Soft Surface</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td></td><td></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 central_support Central Support</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 mechanical_control Mechanical Control</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>13 star_leg_set Star-shape Leg Set</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>46 lever Lever</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 lever Lever</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 knob Knob</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td><p>56 mounting_plate Mounting Plane</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>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 leg Leg</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 leg Leg</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 leg Leg</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></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><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><p>22 caster Wheel Assembly</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>23 caster Wheel Assembly</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>24 caster Wheel Assembly</p><a href="parts_render/24.png"><img src="parts_render/24.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>44 wheel Wheel</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 caster_stem Caster Stem</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>39 caster_stem Caster Stem</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 wheel Wheel</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>37 wheel Wheel</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 caster_stem Caster Stem</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>31 caster_stem Caster Stem</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>29 wheel Wheel</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 caster_stem Caster Stem</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44441/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/44441/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..9c8760cc8e1be2cbd7b3faafac348f60505fdd6a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44441/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_seat chair_seat</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>8 chair_base chair_base</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_connector back_connector</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 seat_surface seat_surface</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>9 star_leg_base star_leg_base</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>7 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>10 central_support central_support</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 central_support central_support</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 mechanical_control mechanical_control</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 star_leg_set star_leg_set</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>13 lever lever</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 lever lever</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 knob knob</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 leg leg</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 leg leg</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 leg leg</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 leg leg</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 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 caster caster</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>25 caster caster</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>28 caster caster</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>31 caster caster</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>34 caster caster</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>23 wheel wheel</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 caster_stem caster_stem</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>26 caster_stem caster_stem</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 wheel wheel</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 wheel wheel</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 caster_stem caster_stem</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>32 caster_stem caster_stem</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel wheel</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td></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 caster_stem caster_stem</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44445/bounding_box.json b/data/PartNet-Mobility/Chair/44445/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea7ebd3fa92bea704d144c8436db1aabdee64a5e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.535273, -0.826696, -0.469134], "max": [0.576913, 0.748988, 0.645599]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44445/images/texture_0.jpg b/data/PartNet-Mobility/Chair/44445/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..542cfe4d14ffd4d9ab1e502ab559b5e2bb0fd9fd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fcf3e1053b86ce685c0f7370862c6c0902dba617b1800db1ec6287236923a5a
+size 1103863
diff --git a/data/PartNet-Mobility/Chair/44445/meta.json b/data/PartNet-Mobility/Chair/44445/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..298d2159946ea245a777269adc717a2921880780
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/meta.json
@@ -0,0 +1 @@
+{"model_id": "f495c500ef468ea781a172d69c52a28a", "anno_id": "44445", "user_id": "yz_zhangcong", "time_in_sec": "257", "version": "6", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44445/mobility.urdf b/data/PartNet-Mobility/Chair/44445/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..539ec78a29db5831e3c4f9dac2805317068609df
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/mobility.urdf
@@ -0,0 +1,431 @@
+<?xml version="1.0" ?>
+<robot name="partnet_f495c500ef468ea781a172d69c52a28a">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="wheel-40">
+			<origin xyz="-0.12832957744526657 0.7816055438278917 0.39811197899477385"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.12832957744526657 0.7816055438278917 0.39811197899477385"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.04118042255473342 -0.7816055438278917 -0.01327347899477388"/>
+		<axis xyz="-0.951783508880386 -1.657500425206981e-05 -0.3067705200122883"/>
+		<child link="link_0"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-37">
+			<origin xyz="-0.5224925646566796 0.7816035647286423 0.0012426333062589435"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5224925646566796 0.7816035647286423 0.0012426333062589435"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.00023690216624883131 -0.7816035647286423 -0.10017101064076192"/>
+		<axis xyz="0.0023614325044821237 -1.1257555254829964e-05 0.99999721175101"/>
+		<child link="link_1"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-34">
+			<origin xyz="-0.1894781942922035 0.7816050321740533 -0.5785592878484762"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1894781942922035 0.7816050321740533 -0.5785592878484762"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.017687854657200325 -0.7816050321740533 -0.005793068434230331"/>
+		<axis xyz="0.9503269236740077 -1.5823453255619917e-05 -0.31125349458265555"/>
+		<child link="link_2"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-31">
+			<origin xyz="0.45060734416347115 0.7816030201702331 -0.32898047679497117"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.45060734416347115 0.7816030201702331 -0.32898047679497117"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.05228597516014444 -0.7816030201702331 -0.0716134439026681"/>
+		<axis xyz="0.5896728511027864 -1.5898997096979275e-05 0.8076422032184382"/>
+		<child link="link_3"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-28">
+			<origin xyz="0.35667558099552843 0.7815976250087654 0.25795357296449645"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.35667558099552843 0.7815976250087654 0.25795357296449645"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="0.04305514364658697 -0.7815976250087654 -0.059554437388463694"/>
+		<axis xyz="0.5858815073567433 9.606136535168237e-05 -0.8103967239010808"/>
+		<child link="link_4"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_5">
+		<visual name="back_soft_surface-47">
+			<origin xyz="-0.013195270357789387 0 -0.10012751209626579"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_sofa_style-44">
+			<origin xyz="-0.013195270357789387 0 -0.10012751209626579"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_sofa_style-43">
+			<origin xyz="-0.013195270357789387 0 -0.10012751209626579"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-42">
+			<origin xyz="-0.013195270357789387 0 -0.10012751209626579"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-8">
+			<origin xyz="-0.013195270357789387 0 -0.10012751209626579"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-11">
+			<origin xyz="-0.013195270357789387 0 -0.10012751209626579"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.013195270357789387 0 -0.10012751209626579"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.013195270357789387 0 -0.10012751209626579"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.013195270357789387 0 -0.10012751209626579"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.013195270357789387 0 -0.10012751209626579"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.013195270357789387 0 -0.10012751209626579"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.013195270357789387 0 -0.10012751209626579"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+	</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"/>
+	</joint>
+	<link name="link_6">
+		<visual name="central_support-9">
+			<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/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<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/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.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_7">
+		<visual name="caster_yoke-38">
+			<origin xyz="-0.16951 0 0.3848385"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-39">
+			<origin xyz="-0.16951 0 0.3848385"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.16951 0 0.3848385"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.16951 0 0.3848385"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.16951 0 -0.3848385"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_7"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_8">
+		<visual name="caster_yoke-35">
+			<origin xyz="-0.5227294668229284 0 -0.09892837733450298"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-36">
+			<origin xyz="-0.5227294668229284 0 -0.09892837733450298"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5227294668229284 0 -0.09892837733450298"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5227294668229284 0 -0.09892837733450298"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.5227294668229284 0 0.09892837733450298"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_8"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_9">
+		<visual name="caster_yoke-32">
+			<origin xyz="-0.17179033963500318 0 -0.5843523562827065"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-33">
+			<origin xyz="-0.17179033963500318 0 -0.5843523562827065"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.17179033963500318 0 -0.5843523562827065"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.17179033963500318 0 -0.5843523562827065"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.17179033963500318 0 0.5843523562827065"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_9"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_10">
+		<visual name="caster_yoke-29">
+			<origin xyz="0.3983213690033267 0 -0.40059392069763927"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-30">
+			<origin xyz="0.3983213690033267 0 -0.40059392069763927"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3983213690033267 0 -0.40059392069763927"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3983213690033267 0 -0.40059392069763927"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.3983213690033267 0 0.40059392069763927"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_10"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_11">
+		<visual name="caster_yoke-26">
+			<origin xyz="0.3997307246421154 0 0.19839913557603275"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-27">
+			<origin xyz="0.3997307246421154 0 0.19839913557603275"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3997307246421154 0 0.19839913557603275"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3997307246421154 0 0.19839913557603275"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="-0.3997307246421154 0 -0.19839913557603275"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_11"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_5_helper"/>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="0.013195270357789387 0 0.10012751209626579"/>
+		<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/44445/mobility_v2.json b/data/PartNet-Mobility/Chair/44445/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..68513081666ebdf8c9efc25205f1f20b42b7a968
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":40,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.12832957744526657,-0.7816055438278917,-0.39811197899477385],"direction":[-0.951783508880386,-0.00001657500425206981,-0.3067705200122883]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":37,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.5224925646566796,-0.7816035647286423,-0.0012426333062589435],"direction":[0.0023614325044821237,-0.000011257555254829964,0.99999721175101]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":34,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.1894781942922035,-0.7816050321740533,0.5785592878484762],"direction":[0.9503269236740077,-0.000015823453255619917,-0.31125349458265555]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":31,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.45060734416347115,-0.7816030201702331,0.32898047679497117],"direction":[0.5896728511027864,-0.000015898997096979275,0.8076422032184382]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":11,"joint":"hinge","name":"wheel","parts":[{"id":28,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.35667558099552843,-0.7815976250087654,-0.25795357296449645],"direction":[0.5858815073567433,0.00009606136535168237,-0.8103967239010808]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":6,"joint":"slider","name":"back_soft_surface","parts":[{"id":47,"name":"back_soft_surface","children":[]},{"id":44,"name":"arm_sofa_style","children":[]},{"id":43,"name":"arm_sofa_style","children":[]},{"id":42,"name":"seat_soft_surface","children":[]},{"id":8,"name":"central_support","children":[]},{"id":11,"name":"seat_connector","children":[]}],"jointData":{"axis":{"origin":[0.013195270357789387,0,0.10012751209626579],"direction":[0,1,0]},"limit":{"a":0,"b":-0.1,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":6,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":9,"name":"central_support","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]},{"id":14,"name":"leg","children":[]},{"id":15,"name":"leg","children":[]},{"id":16,"name":"leg","children":[]}],"jointData":{}},{"id":7,"parent":6,"joint":"hinge","name":"caster_yoke","parts":[{"id":38,"name":"caster_yoke","children":[]},{"id":39,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.16951,0,-0.3848385],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":6,"joint":"hinge","name":"caster_yoke","parts":[{"id":35,"name":"caster_yoke","children":[]},{"id":36,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.5227294668229284,0,0.09892837733450298],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":6,"joint":"hinge","name":"caster_yoke","parts":[{"id":32,"name":"caster_yoke","children":[]},{"id":33,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.17179033963500318,0,0.5843523562827065],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":6,"joint":"hinge","name":"caster_yoke","parts":[{"id":29,"name":"caster_yoke","children":[]},{"id":30,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.3983213690033267,0,0.40059392069763927],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":6,"joint":"hinge","name":"caster_yoke","parts":[{"id":26,"name":"caster_yoke","children":[]},{"id":27,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.3997307246421154,0,-0.19839913557603275],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}}]
\ No newline at end of file
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:402194c4c22d741c4801d1913189c77b61bfb6123e7bab1d5c8337f370b11a73
+size 45380
diff --git a/data/PartNet-Mobility/Chair/44445/parts_render/0.txt b/data/PartNet-Mobility/Chair/44445/parts_render/0.txt
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/parts_render/0.txt
@@ -0,0 +1 @@
+0 chair Sitting Furniture
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44445/parts_render/1.png b/data/PartNet-Mobility/Chair/44445/parts_render/1.png
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/parts_render/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a538556717e21de6b3da9af858f65f30ead16b2a2a3ec4fb78bd3ece06f4384b
+size 38594
diff --git a/data/PartNet-Mobility/Chair/44445/parts_render/1.txt b/data/PartNet-Mobility/Chair/44445/parts_render/1.txt
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/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/44445/parts_render/10.png b/data/PartNet-Mobility/Chair/44445/parts_render/10.png
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/parts_render/10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5da8b9e1f8cd440fb2be95ec0fbbcd8a9f285e04c10cc8e32b2b9a1f63e6030
+size 34309
diff --git a/data/PartNet-Mobility/Chair/44445/parts_render/10.txt b/data/PartNet-Mobility/Chair/44445/parts_render/10.txt
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/parts_render/10.txt
@@ -0,0 +1 @@
+10 star_leg_set Star-shape Leg Set
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44445/parts_render/11.png b/data/PartNet-Mobility/Chair/44445/parts_render/11.png
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/parts_render/11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb13d0ca09a3dfcd0e639d3fdd2695630838829f7ca9ec4278bf3bce84936468
+size 32145
diff --git a/data/PartNet-Mobility/Chair/44445/parts_render/11.txt b/data/PartNet-Mobility/Chair/44445/parts_render/11.txt
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/parts_render/11.txt
@@ -0,0 +1 @@
+11 seat_connector Seat Connector
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44445/parts_render/12.png b/data/PartNet-Mobility/Chair/44445/parts_render/12.png
new file mode 100644
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+++ b/data/PartNet-Mobility/Chair/44445/parts_render/12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 33370
diff --git a/data/PartNet-Mobility/Chair/44445/parts_render/12.txt b/data/PartNet-Mobility/Chair/44445/parts_render/12.txt
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/parts_render/12.txt
@@ -0,0 +1 @@
+12 leg Leg
\ No newline at end of file
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diff --git a/data/PartNet-Mobility/Chair/44445/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/44445/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..e75d351dd5ff4302ffa293d3f1552dba958a4dcf
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44445/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/44445/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..048b2dd2717f21f38a394d5ecd7c8b203b32dc1c
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diff --git a/data/PartNet-Mobility/Chair/44445/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/44445/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..22b79278cadeb781ecc913c6872be421189a3dbd
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44445/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/44445/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0498185916f5fb4182e21bc492cf264679d0c8fd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/44445/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/44445/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b6f9c0e3f58aa18feb89bc2dedf5011c36253c57
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/44445/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Chair/44445/point_sample/sample-points-all-pts-nor-rgba-10000.ply
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/44445/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/44445/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..382dfc1b365cd487ed17ca72f61a37f660217e02
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/44445/result.json b/data/PartNet-Mobility/Chair/44445/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c969bbe7792c1fa5ea1a839acf4e81483a3e65c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["new-3"], "id": 47, "name": "back_soft_surface"}], "id": 45, "name": "back_surface"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Sofa-style Arm", "objs": ["new-4"], "id": 44, "name": "arm_sofa_style"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Sofa-style Arm", "objs": ["new-5"], "id": 43, "name": "arm_sofa_style"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["new-6"], "id": 42, "name": "seat_soft_surface"}], "id": 41, "name": "seat_surface"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["new-2"], "id": 8, "name": "central_support"}, {"text": "Central Support", "objs": ["new-1"], "id": 9, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-24"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-10"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-38"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["original-31"], "id": 15, "name": "leg"}, {"text": "Leg", "objs": ["original-17"], "id": 16, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-14"], "id": 38, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-16"], "id": 39, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-15"], "id": 40, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-21"], "id": 35, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-23"], "id": 36, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-22"], "id": 37, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-7"], "id": 32, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-9"], "id": 33, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-8"], "id": 34, "name": "wheel"}], "id": 19, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-35"], "id": 29, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-37"], "id": 30, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-36"], "id": 31, "name": "wheel"}], "id": 20, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-28"], "id": 26, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-30"], "id": 27, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-29"], "id": 28, "name": "wheel"}], "id": 21, "name": "caster"}], "id": 10, "name": "star_leg_set"}, {"text": "Seat Connector", "objs": ["new-0"], "id": 11, "name": "seat_connector"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44445/result_after_merging.json b/data/PartNet-Mobility/Chair/44445/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..996b149282db13deb5c1465e14b4c53a3a15af29
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/result_after_merging.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "chair", "children": [{"id": 1, "name": "chair_back", "children": [{"id": 2, "name": "back_surface", "children": [{"ori_id": 47, "text": "back_single_surface", "name": "back_single_surface", "id": 3, "objs": ["new-3"]}], "ori_id": 45, "text": "back_surface", "objs": ["new-3"]}], "ori_id": 1, "text": "chair_back", "objs": ["new-3"]}, {"id": 4, "name": "chair_arm", "children": [{"ori_id": 44, "text": "arm_sofa_style", "name": "arm_sofa_style", "id": 5, "objs": ["new-4"]}], "ori_id": 2, "text": "chair_arm", "objs": ["new-4"]}, {"id": 6, "name": "chair_arm", "children": [{"ori_id": 43, "text": "arm_sofa_style", "name": "arm_sofa_style", "id": 7, "objs": ["new-5"]}], "ori_id": 3, "text": "chair_arm", "objs": ["new-5"]}, {"id": 8, "name": "chair_seat", "children": [{"id": 9, "name": "seat_surface", "children": [{"ori_id": 42, "text": "seat_single_surface", "name": "seat_single_surface", "id": 10, "objs": ["new-6"]}], "ori_id": 41, "text": "seat_surface", "objs": ["new-6"]}], "ori_id": 4, "text": "chair_seat", "objs": ["new-6"]}, {"id": 11, "name": "chair_base", "children": [{"id": 12, "name": "star_leg_base", "children": [{"ori_id": 8, "text": "central_support", "name": "central_support", "id": 13, "objs": ["new-2"]}, {"ori_id": 9, "text": "central_support", "name": "central_support", "id": 14, "objs": ["new-1"]}, {"id": 15, "name": "star_leg_set", "children": [{"ori_id": 12, "text": "leg", "name": "leg", "id": 16, "objs": ["original-24"]}, {"ori_id": 13, "text": "leg", "name": "leg", "id": 17, "objs": ["original-10"]}, {"ori_id": 14, "text": "leg", "name": "leg", "id": 18, "objs": ["original-38"]}, {"ori_id": 15, "text": "leg", "name": "leg", "id": 19, "objs": ["original-31"]}, {"ori_id": 16, "text": "leg", "name": "leg", "id": 20, "objs": ["original-17"]}, {"id": 21, "name": "caster", "children": [{"ori_id": 39, "text": "caster_stem", "name": "caster_stem", "id": 22, "objs": ["original-16"]}, {"ori_id": 40, "text": "wheel", "name": "wheel", "id": 23, "objs": ["original-15"]}], "ori_id": 17, "text": "caster", "objs": ["original-14", "original-16", "original-15"]}, {"id": 24, "name": "caster", "children": [{"ori_id": 36, "text": "caster_stem", "name": "caster_stem", "id": 25, "objs": ["original-23"]}, {"ori_id": 37, "text": "wheel", "name": "wheel", "id": 26, "objs": ["original-22"]}], "ori_id": 18, "text": "caster", "objs": ["original-21", "original-23", "original-22"]}, {"id": 27, "name": "caster", "children": [{"ori_id": 33, "text": "caster_stem", "name": "caster_stem", "id": 28, "objs": ["original-9"]}, {"ori_id": 34, "text": "wheel", "name": "wheel", "id": 29, "objs": ["original-8"]}], "ori_id": 19, "text": "caster", "objs": ["original-7", "original-9", "original-8"]}, {"id": 30, "name": "caster", "children": [{"ori_id": 30, "text": "caster_stem", "name": "caster_stem", "id": 31, "objs": ["original-37"]}, {"ori_id": 31, "text": "wheel", "name": "wheel", "id": 32, "objs": ["original-36"]}], "ori_id": 20, "text": "caster", "objs": ["original-35", "original-37", "original-36"]}, {"id": 33, "name": "caster", "children": [{"ori_id": 27, "text": "caster_stem", "name": "caster_stem", "id": 34, "objs": ["original-30"]}, {"ori_id": 28, "text": "wheel", "name": "wheel", "id": 35, "objs": ["original-29"]}], "ori_id": 21, "text": "caster", "objs": ["original-28", "original-30", "original-29"]}], "ori_id": 10, "text": "star_leg_set", "objs": ["original-24", "original-10", "original-38", "original-31", "original-17", "original-14", "original-16", "original-15", "original-21", "original-23", "original-22", "original-7", "original-9", "original-8", "original-35", "original-37", "original-36", "original-28", "original-30", "original-29"]}], "ori_id": 6, "text": "star_leg_base", "objs": ["new-2", "new-1", "original-24", "original-10", "original-38", "original-31", "original-17", "original-14", "original-16", "original-15", "original-21", "original-23", "original-22", "original-7", "original-9", "original-8", "original-35", "original-37", "original-36", "original-28", "original-30", "original-29", "new-0"]}], "ori_id": 5, "text": "chair_base", "objs": ["new-2", "new-1", "original-24", "original-10", "original-38", "original-31", "original-17", "original-14", "original-16", "original-15", "original-21", "original-23", "original-22", "original-7", "original-9", "original-8", "original-35", "original-37", "original-36", "original-28", "original-30", "original-29", "new-0"]}], "ori_id": 0, "text": "chair", "objs": ["new-3", "new-4", "new-5", "new-6", "new-2", "new-1", "original-24", "original-10", "original-38", "original-31", "original-17", "original-14", "original-16", "original-15", "original-21", "original-23", "original-22", "original-7", "original-9", "original-8", "original-35", "original-37", "original-36", "original-28", "original-30", "original-29", "new-0"]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44445/semantics.txt b/data/PartNet-Mobility/Chair/44445/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2048ed8fbdf72bcec6959542295545a8fae7b0eb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/semantics.txt
@@ -0,0 +1,12 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge wheel
+link_5 slider+ seat
+link_6 free chair_leg
+link_7 hinge caster
+link_8 hinge caster
+link_9 hinge caster
+link_10 hinge caster
+link_11 hinge caster
diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/new-0.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/new-0.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/new-2.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/new-2.obj
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/new-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eec497fc5df3397d0de4950960771e5c8fcb27e
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5aa3a396732f7c63dbd2359b9faaa7c0b61ba81
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..829861d3c5aa27e3ad684ca106a419583552a48a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-10.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/44445/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..029e7e5e4616461a4ebb051a8c7beafb5f056e87
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-10.obj
@@ -0,0 +1,228 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb07e1b45a0d7c81d4bcb5dd8e0f9e498ecfc82a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/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/44445/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cd52085aababc7837e0fc66a4690aaf78cfae75
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-14.obj
@@ -0,0 +1,285 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..505d4cd47c607b7b9423ad08998b0d0aac86c39a
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb1de2612d73fefeb5c0352031466484dc1a7693
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb07e1b45a0d7c81d4bcb5dd8e0f9e498ecfc82a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e661cd7f8c2e975c9f2daa8a096ffafb7b4ba374
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..829861d3c5aa27e3ad684ca106a419583552a48a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-17.mtl
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0280de778ddb347fbf40a201fc527c86e92d2475
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb07e1b45a0d7c81d4bcb5dd8e0f9e498ecfc82a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-21.mtl
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a56ed3e771bb6a7c3c9f133dd1eb8e91bc31cf9e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..505d4cd47c607b7b9423ad08998b0d0aac86c39a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e89970a1132962b745eab39c02a54c528dcbfd0
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb07e1b45a0d7c81d4bcb5dd8e0f9e498ecfc82a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-23.mtl
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6508a79582414ce8e5a7565db7d08f850cb53a56
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-23.obj
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..829861d3c5aa27e3ad684ca106a419583552a48a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d261f33927926e9efe635d99878df496dacc709
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb07e1b45a0d7c81d4bcb5dd8e0f9e498ecfc82a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b7305037f5530bae8acb5338399fc0fd8a47e67
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..505d4cd47c607b7b9423ad08998b0d0aac86c39a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-29.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27284af8a6cc6c51310f96b9a459127d5cbc8ab6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-29.obj
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb07e1b45a0d7c81d4bcb5dd8e0f9e498ecfc82a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88fbbb20e4911ed032e366c5fc454d400a1088a3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-30.obj
@@ -0,0 +1,263 @@
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..829861d3c5aa27e3ad684ca106a419583552a48a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa15cbfca8eb3a26d226848ed33beefce538d009
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb07e1b45a0d7c81d4bcb5dd8e0f9e498ecfc82a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-35.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30eea78f64ec5b6e05a44127b7f56d0bb673fb18
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-36.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..505d4cd47c607b7b9423ad08998b0d0aac86c39a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-36.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-36.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aaff034c97fe240149b46db20911147788d8175
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-36.obj
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb07e1b45a0d7c81d4bcb5dd8e0f9e498ecfc82a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-37.mtl
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14a667acaf0994219267fa52b43bb18fdac77b00
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-37.obj
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..829861d3c5aa27e3ad684ca106a419583552a48a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-38.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..518364d75077f4af0094a537503bb2a8b8fb50eb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-38.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb07e1b45a0d7c81d4bcb5dd8e0f9e498ecfc82a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4b067ea10a792c2be4785480656b048a9a658f6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-7.obj
@@ -0,0 +1,285 @@
+# SSTK version 0.8.0
+# 7
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..505d4cd47c607b7b9423ad08998b0d0aac86c39a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a49e94320a450c13749f72cda726cd4ebfd910
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/44445/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb07e1b45a0d7c81d4bcb5dd8e0f9e498ecfc82a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-9.mtl
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diff --git a/data/PartNet-Mobility/Chair/44445/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/44445/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfef14864dfbbde7eefe343b9feac0a1376421d4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/textured_objs/original-9.obj
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+f 26//1 23//1 27//1
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+f 27//24 25//25 29//24
+f 29//23 25//26 27//23
+f 26//26 28//22 24//26
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+f 28//22 26//26 30//22
+f 30//21 26//25 28//21
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+f 32//1 28//1 29//1
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+f 31//2 27//2 30//2
+f 31//20 29//24 33//20
+f 33//19 29//23 31//19
+f 30//22 32//16 28//22
+f 28//21 32//15 30//21
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diff --git a/data/PartNet-Mobility/Chair/44445/tree_hier.html b/data/PartNet-Mobility/Chair/44445/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..e96bba20076da9a03f60eb047804d63257a8ff8b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>45 back_surface Back Surface</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>44 arm_sofa_style Sofa-style Arm</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>43 arm_sofa_style Sofa-style Arm</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>41 seat_surface Seat Surface</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>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>47 back_soft_surface Back Soft Surface</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>42 seat_soft_surface Seat Soft Surface</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>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>11 seat_connector Seat Connector</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>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></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>38 caster_yoke Caster Yoke</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 caster_stem Caster Stem</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 wheel Wheel</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>35 caster_yoke Caster Yoke</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 caster_stem Caster Stem</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 wheel Wheel</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>32 caster_yoke Caster Yoke</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></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></td><td><p>29 caster_yoke Caster Yoke</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 caster_stem Caster Stem</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel Wheel</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>26 caster_yoke Caster Yoke</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 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></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44445/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/44445/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..58b5759995d9ec6c6b05551468ee3966b6c95ad7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44445/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>4 chair_arm chair_arm</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 chair_arm chair_arm</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>8 chair_seat chair_seat</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>11 chair_base chair_base</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>5 arm_sofa_style arm_sofa_style</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>7 arm_sofa_style arm_sofa_style</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>9 seat_surface seat_surface</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>12 star_leg_base star_leg_base</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>13 central_support central_support</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 central_support central_support</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 star_leg_set star_leg_set</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 leg leg</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 leg leg</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 leg leg</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 leg leg</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 leg leg</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 caster caster</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>24 caster caster</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>27 caster caster</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>30 caster caster</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>33 caster caster</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>22 caster_stem caster_stem</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 wheel wheel</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>25 caster_stem caster_stem</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 caster_stem caster_stem</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel wheel</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>31 caster_stem caster_stem</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 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></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44729/bounding_box.json b/data/PartNet-Mobility/Chair/44729/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..db2cb6c4df19b75e8059c60bb222ef22ce91c285
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.48897, -0.837644, -0.395758], "max": [0.472079, 0.626692, 0.519804]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44729/images/texture_0.jpg b/data/PartNet-Mobility/Chair/44729/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..eade35831e34322ff007dc57f4c5015961302b9a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af2263c82eba2f77bbd44bae236509f7dd0ddd8868f3d00c72554a415927e7c1
+size 2956
diff --git a/data/PartNet-Mobility/Chair/44729/meta.json b/data/PartNet-Mobility/Chair/44729/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e42950e7472994937fabfd54dd26173799c4b12c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/meta.json
@@ -0,0 +1 @@
+{"model_id": "faef9e4cff5fa61987be36ce60737655", "anno_id": "44729", "user_id": "yz-majinghua", "time_in_sec": "293", "version": "4", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44729/mobility.urdf b/data/PartNet-Mobility/Chair/44729/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c3cf33145c68f44bb23f116ebc2027638680325b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/mobility.urdf
@@ -0,0 +1,852 @@
+<?xml version="1.0" ?>
+<robot name="partnet_faef9e4cff5fa61987be36ce60737655">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever-42">
+			<origin xyz="-0.06003795902099234 0.10664041757546637 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
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+			<geometry>
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+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.06848345902099234 -0.10664041757546637 -0.10291550000000001"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_16"/>
+		<limit lower="-0.0" upper="0.2387610416728244"/>
+	</joint>
+	<link name="link_1">
+		<visual name="caster_yoke-35">
+			<origin xyz="0.4134169000486824 0 0.0286665931536655"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_yoke-35">
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+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_yoke-35">
+			<origin xyz="0.4134169000486824 0 0.0286665931536655"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="0.4134169000486824 0 0.0286665931536655"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
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+		</collision>
+	</link>
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+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_17"/>
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+	<link name="link_2">
+		<visual name="wheel-36">
+			<origin xyz="0.4094129551925843 0.7971665 0.13300579742240365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="0.3089738387515211 0 -0.9510705373247291"/>
+		<child link="link_2"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-37">
+			<origin xyz="0.4094129551925843 0.7971665 0.13300579742240365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
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+		<axis xyz="0.3089738387515211 0 -0.9510705373247291"/>
+		<child link="link_3"/>
+		<parent link="link_1"/>
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+	<link name="link_4">
+		<visual name="caster_yoke-32">
+			<origin xyz="0.008445 0 0.322894"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="0.008445 0 0.322894"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_yoke-32">
+			<origin xyz="0.008445 0 0.322894"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="0.008445 0 0.322894"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.008445 0 0.322894"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<origin xyz="-0.008445 0 -0.322894"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-33">
+			<origin xyz="0 0.7971666573684134 0.35132265736841345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
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+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.008445 -0.7971666573684134 -0.028428657368413435"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-34">
+			<origin xyz="0 0.7971666573684134 0.35132265736841345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7971666573684134 0.35132265736841345"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.008445 -0.7971666573684134 -0.028428657368413435"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_6"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_7">
+		<visual name="caster_yoke-29">
+			<origin xyz="-0.39652590004868243 0 0.0286655931536655"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
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+			<origin xyz="-0.39652590004868243 0 0.0286655931536655"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
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+			<origin xyz="-0.39652590004868243 0 0.0286655931536655"/>
+			<geometry>
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+			</geometry>
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+		<visual name="caster_yoke-29">
+			<origin xyz="-0.39652590004868243 0 0.0286655931536655"/>
+			<geometry>
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+			</geometry>
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+			<geometry>
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+			<geometry>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
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+		</collision>
+	</link>
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+		<axis xyz="0 1 0"/>
+		<child link="link_7"/>
+		<parent link="link_17"/>
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+	<link name="link_8">
+		<visual name="wheel-30">
+			<origin xyz="-0.3941341575172198 0.7971665 0.12804218148721297"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
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+		<axis xyz="0.3089738387515211 0 0.9510705373247291"/>
+		<child link="link_8"/>
+		<parent link="link_7"/>
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+	<link name="link_9">
+		<visual name="wheel-31">
+			<origin xyz="-0.3941341575172198 0.7971665 0.12804218148721297"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
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+			<origin xyz="-0.3941341575172198 0.7971665 0.12804218148721297"/>
+			<geometry>
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+			</geometry>
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+		<axis xyz="0.3089738387515211 0 0.9510705373247291"/>
+		<child link="link_9"/>
+		<parent link="link_7"/>
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+	<link name="link_10">
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+			<origin xyz="-0.2418440311944726 0 -0.44740379678710973"/>
+			<geometry>
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+			</geometry>
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+			<geometry>
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+			</geometry>
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+			<geometry>
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+			</geometry>
+		</visual>
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+			<geometry>
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+		<collision>
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+			<geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
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+	</link>
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+		<axis xyz="0 1 0"/>
+		<child link="link_10"/>
+		<parent link="link_17"/>
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+	<link name="link_11">
+		<visual name="wheel-24">
+			<origin xyz="-0.31300332376623474 0.7971665 -0.43084805413559046"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
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+		<axis xyz="0.8090403325802592 0 -0.5877531286674904"/>
+		<child link="link_11"/>
+		<parent link="link_10"/>
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+	<link name="link_12">
+		<visual name="wheel-25">
+			<origin xyz="-0.31300332376623474 0.7971665 -0.43084805413559046"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
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+	<joint name="joint_12" type="continuous">
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+		<axis xyz="0.8090403325802592 0 -0.5877531286674904"/>
+		<child link="link_12"/>
+		<parent link="link_10"/>
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+	<link name="link_13">
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+			<origin xyz="0.2587334355738464 0 -0.4474029538430952"/>
+			<geometry>
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+			<geometry>
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+			<geometry>
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+		<collision>
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+			<geometry>
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+			</geometry>
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+			<origin xyz="0.2587334355738464 0 -0.4474029538430952"/>
+			<geometry>
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+			</geometry>
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+		<collision>
+			<origin xyz="0.2587334355738464 0 -0.4474029538430952"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
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+		<axis xyz="0 1 0"/>
+		<child link="link_13"/>
+		<parent link="link_17"/>
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+		<visual name="wheel-21">
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+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
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+		<axis xyz="-0.8090283382359243 0 -0.5877696384904711"/>
+		<child link="link_14"/>
+		<parent link="link_13"/>
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+	<link name="link_15">
+		<visual name="wheel-22">
+			<origin xyz="0.31884459254181186 0.7971669652488692 -0.43886974645380683"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
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+	</link>
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+		<axis xyz="-0.8090283382359243 0 -0.5877696384904711"/>
+		<child link="link_15"/>
+		<parent link="link_13"/>
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+	<link name="link_16">
+		<visual name="back_soft_surface-54">
+			<origin xyz="0.008445499999999995 0 -0.10291550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface-54">
+			<origin xyz="0.008445499999999995 0 -0.10291550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-58">
+			<origin xyz="0.008445499999999995 0 -0.10291550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-59">
+			<origin xyz="0.008445499999999995 0 -0.10291550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-59">
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+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-48">
+			<origin xyz="0.008445499999999995 0 -0.10291550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-48">
+			<origin xyz="0.008445499999999995 0 -0.10291550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-57">
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+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-44">
+			<origin xyz="0.008445499999999995 0 -0.10291550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-43">
+			<origin xyz="0.008445499999999995 0 -0.10291550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-43">
+			<origin xyz="0.008445499999999995 0 -0.10291550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008445499999999995 0 -0.10291550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008445499999999995 0 -0.10291550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008445499999999995 0 -0.10291550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008445499999999995 0 -0.10291550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008445499999999995 0 -0.10291550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-4.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-38">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-39">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-39">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.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-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.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="-0.008445499999999995 0 0.10291550000000001"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_16_helper"/>
+		<parent link="link_17"/>
+		<limit lower="0" upper="0.18000000000000016"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/44729/mobility_v2.json b/data/PartNet-Mobility/Chair/44729/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..65ceb52cea5d129b7d789eb1a27d6cc72b8ea082
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":16,"joint":"hinge","name":"lever","parts":[{"id":42,"name":"lever","children":[]}],"jointData":{"axis":{"origin":[0.06003795902099234,-0.10664041757546637,0],"direction":[0,0,1]},"limit":{"a":0,"b":-13.680000000000007,"noLimit":false}}},{"id":1,"parent":17,"joint":"hinge","name":"caster_yoke","parts":[{"id":35,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.4134169000486824,0,-0.0286665931536655],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":1,"joint":"hinge","name":"wheel","parts":[{"id":36,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.4094129551925843,-0.7971665,-0.13300579742240365],"direction":[0.3089738387515211,0,-0.9510705373247291]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":1,"joint":"hinge","name":"wheel","parts":[{"id":37,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.4094129551925843,-0.7971665,-0.13300579742240365],"direction":[0.3089738387515211,0,-0.9510705373247291]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":17,"joint":"hinge","name":"caster_yoke","parts":[{"id":32,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.008445,0,-0.322894],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":33,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.7971666573684134,-0.35132265736841345],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":34,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.7971666573684134,-0.35132265736841345],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":17,"joint":"hinge","name":"caster_yoke","parts":[{"id":29,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.39652590004868243,0,-0.0286655931536655],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":30,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.3941341575172198,-0.7971665,-0.12804218148721297],"direction":[0.3089738387515211,0,0.9510705373247291]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":31,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.3941341575172198,-0.7971665,-0.12804218148721297],"direction":[0.3089738387515211,0,0.9510705373247291]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":17,"joint":"hinge","name":"caster_yoke","parts":[{"id":23,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.2418440311944726,0,0.44740379678710973],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":24,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.31300332376623474,-0.7971665,0.43084805413559046],"direction":[0.8090403325802592,0,-0.5877531286674904]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":25,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.31300332376623474,-0.7971665,0.43084805413559046],"direction":[0.8090403325802592,0,-0.5877531286674904]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":13,"parent":17,"joint":"hinge","name":"caster_yoke","parts":[{"id":20,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.2587334355738464,0,0.4474029538430952],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":14,"parent":13,"joint":"hinge","name":"wheel","parts":[{"id":21,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.31884459254181186,-0.7971669652488692,0.43886974645380683],"direction":[-0.8090283382359243,0,-0.5877696384904711]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":15,"parent":13,"joint":"hinge","name":"wheel","parts":[{"id":22,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.31884459254181186,-0.7971669652488692,0.43886974645380683],"direction":[-0.8090283382359243,0,-0.5877696384904711]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":16,"parent":17,"joint":"slider","name":"chair_back","parts":[{"id":54,"name":"back_soft_surface","children":[]},{"id":58,"name":"back_connector","children":[]},{"id":59,"name":"back_connector","children":[]},{"id":48,"name":"seat_soft_surface","children":[]},{"id":57,"name":"seat_support","children":[]},{"id":40,"name":"central_support","children":[]},{"id":44,"name":"seat_connector","children":[]},{"id":43,"name":"mounting_plate","children":[]}],"jointData":{"axis":{"origin":[-0.008445499999999995,0,0.10291550000000001],"direction":[0,-1,0]},"limit":{"a":0,"b":0.18000000000000016,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":17,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":38,"name":"central_support","children":[]},{"id":39,"name":"central_suppo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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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diff --git a/data/PartNet-Mobility/Chair/44729/parts_render/0.txt b/data/PartNet-Mobility/Chair/44729/parts_render/0.txt
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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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+++ b/data/PartNet-Mobility/Chair/44729/parts_render/1.txt
@@ -0,0 +1 @@
+1 chair_back Chair Back
\ No newline at end of file
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+10 leg Leg
\ No newline at end of file
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44729/parts_render/12.png b/data/PartNet-Mobility/Chair/44729/parts_render/12.png
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+12 caster Wheel Assembly
\ No newline at end of file
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+13 caster Wheel Assembly
\ No newline at end of file
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diff --git a/data/PartNet-Mobility/Chair/44729/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/44729/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..31079fa2a94b66d51daaf69da8ec32b66a8657c8
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/44729/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..00269700ac230daf9669763e58b0f19ecea2d126
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/point_sample/pts-10000.pts
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diff --git a/data/PartNet-Mobility/Chair/44729/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/44729/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9070fd8adc5a8f3571eea9d1709e8f2343314d72
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/44729/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..54ab092647c2859db006916c8510ee59b38592b6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/44729/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/44729/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4c6aa4245401a94297944cd84b10ef51ed3bbf41
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/44729/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Chair/44729/point_sample/sample-points-all-pts-nor-rgba-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..051c0e77864af30ca61f3fee369616c9bf9657e9
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/44729/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b10dc264242105bdddfe938d4af0ea52d519bcf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/44729/result.json b/data/PartNet-Mobility/Chair/44729/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4d73727a59b0f8656a04228140c10d0f6556d30
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-2", "original-3"], "id": 54, "name": "back_soft_surface"}], "id": 49, "name": "back_surface"}, {"text": "Back Connector", "objs": ["new-2"], "id": 58, "name": "back_connector"}, {"text": "Back Connector", "objs": ["new-0", "original-62"], "id": 59, "name": "back_connector"}], "id": 1, "name": "chair_back"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-68", "original-1"], "id": 48, "name": "seat_soft_surface"}], "id": 45, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["new-1"], "id": 57, "name": "seat_support"}], "id": 2, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-33", "original-41"], "id": 7, "name": "leg"}, {"text": "Leg", "objs": ["original-13", "original-21"], "id": 8, "name": "leg"}, {"text": "Leg", "objs": ["original-53", "original-61"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["original-43", "original-51"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-31", "original-23"], "id": 11, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-37", "original-36", "original-35", "original-40"], "id": 35, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-39"], "id": 36, "name": "wheel"}, {"text": "Wheel", "objs": ["original-38"], "id": 37, "name": "wheel"}], "id": 12, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-17", "original-16", "original-20", "original-15"], "id": 32, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-19"], "id": 33, "name": "wheel"}, {"text": "Wheel", "objs": ["original-18"], "id": 34, "name": "wheel"}], "id": 13, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-56", "original-55", "original-57", "original-60"], "id": 29, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-58"], "id": 30, "name": "wheel"}, {"text": "Wheel", "objs": ["original-59"], "id": 31, "name": "wheel"}], "id": 14, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-45", "original-47", "original-46", "original-50"], "id": 23, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-48"], "id": 24, "name": "wheel"}, {"text": "Wheel", "objs": ["original-49"], "id": 25, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-25", "original-27", "original-26", "original-30"], "id": 20, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-28"], "id": 21, "name": "wheel"}, {"text": "Wheel", "objs": ["original-29"], "id": 22, "name": "wheel"}], "id": 16, "name": "caster"}], "id": 6, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["original-9"], "id": 38, "name": "central_support"}, {"text": "Central Support", "objs": ["original-8", "original-7"], "id": 39, "name": "central_support"}, {"text": "Central Support", "objs": ["original-6", "original-67"], "id": 40, "name": "central_support"}, {"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-64", "original-65"], "id": 42, "name": "lever"}, {"text": "Mounting Plane", "objs": ["original-5", "original-4"], "id": 43, "name": "mounting_plate"}], "id": 41, "name": "mechanical_control"}, {"text": "Seat Connector", "objs": ["original-10"], "id": 44, "name": "seat_connector"}], "id": 4, "name": "star_leg_base"}], "id": 3, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44729/result_after_merging.json b/data/PartNet-Mobility/Chair/44729/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..321b48672b45a386a4def2c9c7af3906b4b9c7c5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/result_after_merging.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44729/semantics.txt b/data/PartNet-Mobility/Chair/44729/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9d113ded1a0433c6292f13ff71fe03e95bdc9e21
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/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/44729/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8914edef29bc4e8b29a7b912f8a3498cfbf9126c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/new-0.mtl
@@ -0,0 +1,17 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+
+newmtl material-1
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+
diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b86bea2cbbd31679d15418921d52121172f11a8a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/new-0.obj
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/new-1.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/new-1.obj
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index 0000000000000000000000000000000000000000..cd6566aa36712fd298514e02dd2df8c0c835adc6
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/new-2.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/new-2.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-1.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..112cd18d2638cdc8e23e705c5c61acc262866159
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-1.mtl
@@ -0,0 +1,28 @@
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-1.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4306fcc463f1547bda940733e3e127aabec0e65f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-1.obj
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..54212c58d5fd4ea21e18df7cd1602e0fc63024b4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-13.mtl
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96b6bb90049da53ab8711c135a94313155462c59
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-15.mtl
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..352e0959b340aa93d45d1a9d8601042f6c161825
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
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+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-16.mtl
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baa87d08bcc98e162130f35ddc4e38554bedecdb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-19.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.11372549019607843 0.11372549019607843 0.11372549019607843 
+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/44729/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a09c8d929f0b579e71739dc993bda4e2274a2b94
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-19.obj
@@ -0,0 +1,1157 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dcce30dec1a5bb7f1a6a5e654a1cb983055f0083
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86f1d7e45c6c7d6d6f75e005fd6142c11335eaf8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-2.obj
@@ -0,0 +1,4090 @@
+# SSTK version 0.8.0
+# 2
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-21.mtl
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08edb8266f6abf1760b461299886ab3985adb1a5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..54212c58d5fd4ea21e18df7cd1602e0fc63024b4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-23.mtl
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e167458f7f73229c5011f8fc19c239ac44255795
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-23.obj
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-25.mtl
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77514bf79be0ca09dcaf50212452ca451a50e575
--- /dev/null
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index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-26.obj
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index 0000000000000000000000000000000000000000..08529d07c268a3a90306b23a703f4253689597c2
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-29.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+
diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6077a0f6108974f5cf7898848fa80d66b94f2feb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-29.obj
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71ff4b3abbf9b85f681657990c5cca518f24ac24
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecf4e2f4fa6ef0344a398e1ec4f6062a198b7cbe
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-3.obj
@@ -0,0 +1,5766 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-31.mtl
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-31.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..54212c58d5fd4ea21e18df7cd1602e0fc63024b4
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-33.obj
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index 0000000000000000000000000000000000000000..726fd528e62804d4ad3c0c7434b059d59740467f
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9761b25babf269102c324e69abd8bf944d32710b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-38.obj
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index 0000000000000000000000000000000000000000..3458ce7c75679acf21863378f42ad67ed72ae056
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-39.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Kd 0.11372549019607843 0.11372549019607843 0.11372549019607843 
+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/44729/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d997fa668c2ac84516ab6968710e6907cddf5b7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-39.obj
@@ -0,0 +1,1157 @@
+# SSTK version 0.8.0
+# 39
+mtllib original-39.mtl
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-4.mtl
@@ -0,0 +1,15 @@
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c192aa641deed735151985b933ca1f25755bc4f0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-4.obj
@@ -0,0 +1,2064 @@
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-40.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-40.obj
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index 0000000000000000000000000000000000000000..021f1d80d21021e2e74a6858f5de153dff840e54
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-41.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-41.mtl
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-41.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28b81581d5922b2b1c9f3bec93c4525411d8ef5f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-41.obj
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-43.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..54212c58d5fd4ea21e18df7cd1602e0fc63024b4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-43.mtl
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-43.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7128f29849138ef79289884b5b5d99bc550d4115
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-43.obj
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-45.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-45.mtl
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-45.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..751c818ea7baa070cee84ed3d5ebe6921e0bd7aa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-45.obj
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-46.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-46.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-46.obj
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index 0000000000000000000000000000000000000000..557b4eab5431efb7621cda695b97e31771b1174c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-49.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-49.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+
diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-49.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b782592940c3d76b0fe4cf5e73b6875211d7f936
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-49.obj
@@ -0,0 +1,1157 @@
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cc1185026f7f57099c18489371a918dcc08d1c76
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-51.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-51.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-51.obj
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-53.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..54212c58d5fd4ea21e18df7cd1602e0fc63024b4
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-53.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-53.obj
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-55.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-55.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21eb75e525b6c1a774085c21cc23aa630168dab5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-58.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-58.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-58.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-59.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-59.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-59.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5894255301a2242b635ca7b4e34da8bf342265bf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-59.obj
@@ -0,0 +1,1157 @@
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+mtllib original-59.mtl
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-62.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8598acccd38f603c27985f8a4ba607607896227f
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-62.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-62.obj
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index 0000000000000000000000000000000000000000..2153fb38c5239b371222d4f20affb736c0736efb
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-67.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-67.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/44729/textured_objs/original-67.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0978d66b56eea046a246cd8b6dba47a91c9d8131
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-67.obj
@@ -0,0 +1,75 @@
+# SSTK version 0.8.0
+# 67
+mtllib original-67.mtl
+o mesh40/mesh40-geometry#mesh40-geometry
+v -0.031904 -0.152896 0.109201
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-68.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-68.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/44729/textured_objs/original-68.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..729ae8c024d19028e0bf6fabd358fc276ba5cacc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-68.obj
@@ -0,0 +1,75 @@
+# SSTK version 0.8.0
+# 68
+mtllib original-68.mtl
+o mesh41/mesh41-geometry#mesh41-geometry
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-7.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.11372549019607843 0.11372549019607843 0.11372549019607843 
+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/44729/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e79c601a125cb391a24d502e9bc7f779edd811b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/textured_objs/original-7.obj
@@ -0,0 +1,384 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o Group7/mesh7/mesh7-geometry#mesh7-geometry
+v -0.031904 -0.398998 0.109201
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-8.mtl
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index 0000000000000000000000000000000000000000..54212c58d5fd4ea21e18df7cd1602e0fc63024b4
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-8.obj
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index 0000000000000000000000000000000000000000..9d9ea0037d6d7955914f43f9955c60858830553e
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/44729/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/44729/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bdae9bd83d8be140ead1df39d7dc6143d65b35c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44729/tree_hier.html b/data/PartNet-Mobility/Chair/44729/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..33b8c7f8c6423497a787a90a8016dbaa695d8db6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_seat Chair Seat</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><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>49 back_surface Back Surface</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>58 back_connector Back Connector</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 back_connector Back Connector</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>45 seat_surface Seat Surface</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>57 seat_support Seat Support</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 star_leg_base Star-shape Leg Base</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td></tr><tr><td><p>54 back_soft_surface Back Soft Surface</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>48 seat_soft_surface Seat 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></td><td></td><td></td><td><p>6 star_leg_set Star-shape Leg Set</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>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 central_support Central Support</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 central_support Central Support</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 mechanical_control Mechanical Control</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>44 seat_connector Seat Connector</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>7 leg Leg</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 leg Leg</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 leg Leg</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 leg Leg</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 caster Wheel Assembly</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>13 caster Wheel Assembly</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>14 caster Wheel Assembly</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>15 caster Wheel Assembly</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>42 lever Lever</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 mounting_plate Mounting Plane</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>35 caster_yoke Caster Yoke</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 wheel Wheel</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 wheel Wheel</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>32 caster_yoke Caster Yoke</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel Wheel</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel Wheel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 caster_yoke Caster Yoke</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 wheel Wheel</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></td><td><p>23 caster_yoke Caster Yoke</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 wheel Wheel</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel Wheel</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>20 caster_yoke Caster Yoke</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 wheel Wheel</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 wheel Wheel</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44729/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/44729/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..f3981cc860d23543cf1eba8efa37f5f4f3df05ef
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44729/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><p>6 chair_seat chair_seat</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>10 chair_base chair_base</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_connector back_connector</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 back_connector back_connector</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>7 seat_surface seat_surface</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>9 seat_support seat_support</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 star_leg_base star_leg_base</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>12 star_leg_set star_leg_set</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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 central_support central_support</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 central_support central_support</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 central_support central_support</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 mechanical_control mechanical_control</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>13 leg leg</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg leg</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 leg leg</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 leg leg</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 leg leg</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 caster caster</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><p>21 caster caster</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>24 caster caster</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>27 caster caster</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>30 caster caster</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>37 lever lever</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td></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><p>19 wheel wheel</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 wheel wheel</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>22 wheel wheel</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 wheel wheel</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>25 wheel wheel</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 wheel wheel</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>28 wheel wheel</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel wheel</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>31 wheel wheel</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel wheel</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44876/bounding_box.json b/data/PartNet-Mobility/Chair/44876/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4b8482e33efbf906847f942d1fc4e35e34c5d21
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.434794, -0.840791, -0.390951], "max": [0.507522, 0.73008, 0.578871]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44876/meta.json b/data/PartNet-Mobility/Chair/44876/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..644696ae8a11b698b7fe645f0259a235867881b1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/meta.json
@@ -0,0 +1 @@
+{"model_id": "fb381061e67388ba80360680c1602c7d", "anno_id": "44876", "user_id": "yz_zhangcong", "time_in_sec": "326", "version": "5", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44876/mobility.urdf b/data/PartNet-Mobility/Chair/44876/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..318abd3da611b7c75c5bb72a5dc202c19de3aa5e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/mobility.urdf
@@ -0,0 +1,543 @@
+<?xml version="1.0" ?>
+<robot name="partnet_fb381061e67388ba80360680c1602c7d">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="knob-38">
+			<origin xyz="0.003737409974796529 0.069476 -0.03545348606735092"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-38">
+			<origin xyz="0.003737409974796529 0.069476 -0.03545348606735092"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.003737409974796529 0.069476 -0.03545348606735092"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.003737409974796529 0.069476 -0.03545348606735092"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.003951090025203472 -0.069476 -0.09810801393264908"/>
+		<axis xyz="0.9944894845381661 0 0.10483637318704331"/>
+		<child link="link_0"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_1">
+		<visual name="knob-39">
+			<origin xyz="0.014216804783993953 0.2923359717859403 -0.13419994951982742"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-39">
+			<origin xyz="0.014216804783993953 0.2923359717859403 -0.13419994951982742"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.014216804783993953 0.2923359717859403 -0.13419994951982742"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.014216804783993953 0.2923359717859403 -0.13419994951982742"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.014216804783993953 -0.2923359717859403 0.13419994951982742"/>
+		<axis xyz="0.9944735610800107 -0.0001674826799509274 0.10498718141941975"/>
+		<child link="link_1"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-37">
+			<origin xyz="0.0037089866434725327 0.8070865469414252 -0.33871208264849006"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0037089866434725327 0.8070865469414252 -0.33871208264849006"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.39173401335652747 -0.8070865469414252 0.0049410826484900805"/>
+		<axis xyz="0.9999399879171647 2.427002025044344e-06 0.01095538946501857"/>
+		<child link="link_2"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-34">
+			<origin xyz="-0.005320086105904987 0.8070843099496822 0.13072947509905458"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.005320086105904987 0.8070843099496822 0.13072947509905458"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.350167086105905 -0.8070843099496822 0.013119524900945423"/>
+		<axis xyz="-0.999175248034963 -9.088702846188671e-06 -0.040605709348139576"/>
+		<child link="link_3"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-31">
+			<origin xyz="0.03892195263610039 0.807097387420566 0.19184540224755983"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.03892195263610039 0.807097387420566 0.19184540224755983"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.22719245263610038 -0.807097387420566 0.04516009775244015"/>
+		<axis xyz="0.9799988819840825 4.2547014874699973e-05 -0.19900298867027028"/>
+		<child link="link_4"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-28">
+			<origin xyz="0.008752007622111044 0.8070798655348387 -0.15728059296412164"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.008752007622111044 0.8070798655348387 -0.15728059296412164"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.4757525076221111 -0.8070798655348387 -0.026596407035878372"/>
+		<axis xyz="-0.9984599063129262 1.5991477484188476e-05 -0.055478060797536505"/>
+		<child link="link_5"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-23">
+			<origin xyz="-0.1347485988552507 0.8070871617868437 -0.5303566061168403"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1347485988552507 0.8070871617868437 -0.5303566061168403"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.028545098855250695 -0.8070871617868437 -0.0059673938831596995"/>
+		<axis xyz="0.9692110278194819 1.1519906825990819e-05 -0.24623156463052334"/>
+		<child link="link_6"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_7">
+		<visual name="seat_soft_surface-41">
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface-45">
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_support-43">
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_support-43">
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-44">
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-7">
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-8">
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-46">
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.007688500000000001 0 -0.1335615"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_7"/>
+		<parent link="link_7_helper"/>
+	</joint>
+	<link name="link_8">
+		<visual name="central_support-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_8"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_9">
+		<visual name="caster_yoke-35">
+			<origin xyz="0.395443 0 -0.333771"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-36">
+			<origin xyz="0.395443 0 -0.333771"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.395443 0 -0.333771"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.395443 0 -0.333771"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.395443 0 0.333771"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_9"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_10">
+		<visual name="caster_yoke-32">
+			<origin xyz="0.344847 0 0.143849"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-33">
+			<origin xyz="0.344847 0 0.143849"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.344847 0 0.143849"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.344847 0 0.143849"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.344847 0 -0.143849"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_10"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_11">
+		<visual name="caster_yoke-29">
+			<origin xyz="-0.1882705 0 0.23700549999999998"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-30">
+			<origin xyz="-0.1882705 0 0.23700549999999998"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1882705 0 0.23700549999999998"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.1882705 0 0.23700549999999998"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="0.1882705 0 -0.23700549999999998"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_11"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_12">
+		<visual name="caster_yoke-26">
+			<origin xyz="-0.46700050000000004 0 -0.183877"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-27">
+			<origin xyz="-0.46700050000000004 0 -0.183877"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.46700050000000004 0 -0.183877"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.46700050000000004 0 -0.183877"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="0.46700050000000004 0 0.183877"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_12"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_13">
+		<visual name="caster_yoke-24">
+			<origin xyz="-0.1062035 0 -0.536324"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-25">
+			<origin xyz="-0.1062035 0 -0.536324"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1062035 0 -0.536324"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.1062035 0 -0.536324"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="0.1062035 0 0.536324"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_13"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_7_helper"/>
+	<joint name="joint_14" type="prismatic">
+		<origin xyz="-0.007688500000000001 0 0.1335615"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_7_helper"/>
+		<parent link="link_8"/>
+		<limit lower="0" upper="0.1"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/44876/mobility_v2.json b/data/PartNet-Mobility/Chair/44876/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..051d1d6586c4cbdcb3f50e967d82251978e981b9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":7,"joint":"hinge","name":"knob","parts":[{"id":38,"name":"knob","children":[]}],"jointData":{"axis":{"origin":[-0.003737409974796529,-0.069476,0.03545348606735092],"direction":[0.9944894845381661,0,0.10483637318704331]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":8,"joint":"hinge","name":"knob","parts":[{"id":39,"name":"knob","children":[]}],"jointData":{"axis":{"origin":[-0.014216804783993953,-0.2923359717859403,0.13419994951982742],"direction":[0.9944735610800107,-0.0001674826799509274,0.10498718141941975]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":37,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.0037089866434725327,-0.8070865469414252,0.33871208264849006],"direction":[0.9999399879171647,0.000002427002025044344,0.01095538946501857]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":34,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.005320086105904987,-0.8070843099496822,-0.13072947509905458],"direction":[-0.999175248034963,-0.000009088702846188671,-0.040605709348139576]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":11,"joint":"hinge","name":"wheel","parts":[{"id":31,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.03892195263610039,-0.807097387420566,-0.19184540224755983],"direction":[0.9799988819840825,0.000042547014874699973,-0.19900298867027028]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":12,"joint":"hinge","name":"wheel","parts":[{"id":28,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.008752007622111044,-0.8070798655348387,0.15728059296412164],"direction":[-0.9984599063129262,0.000015991477484188476,-0.055478060797536505]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":13,"joint":"hinge","name":"wheel","parts":[{"id":23,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.1347485988552507,-0.8070871617868437,0.5303566061168403],"direction":[0.9692110278194819,0.000011519906825990819,-0.24623156463052334]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":8,"joint":"slider","name":"seat_soft_surface","parts":[{"id":41,"name":"seat_soft_surface","children":[]},{"id":45,"name":"back_soft_surface","children":[]},{"id":43,"name":"back_support","children":[]},{"id":44,"name":"back_connector","children":[]},{"id":7,"name":"central_support","children":[]},{"id":8,"name":"central_support","children":[]},{"id":46,"name":"mounting_plate","children":[]}],"jointData":{"axis":{"origin":[-0.007688500000000001,0,0.1335615],"direction":[0,1,0]},"limit":{"a":0,"b":-0.1,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":8,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":6,"name":"central_support","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]},{"id":14,"name":"leg","children":[]},{"id":15,"name":"leg","children":[]},{"id":16,"name":"leg","children":[]}],"jointData":{}},{"id":9,"parent":8,"joint":"hinge","name":"caster_yoke","parts":[{"id":35,"name":"caster_yoke","children":[]},{"id":36,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.395443,0,0.333771],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":8,"joint":"hinge","name":"caster_yoke","parts":[{"id":32,"name":"caster_yoke","children":[]},{"id":33,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.344847,0,-0.143849],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":8,"joint":"hinge","name":"caster_yoke","parts":[{"id":29,"name":"caster_yoke","children":[]},{"id":30,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.1882705,0,-0.23700549999999998],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":8,"joint":"hinge","name":"caster_yoke","parts":[{"id":26,"name":"caster_yoke","children":[]},{"id":27,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.46700050000000004,0,0.183877],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":13,"parent":8,"joint":"hinge","name":"caster_yoke","parts":[{"id":24,"name":"caster_yoke","children":[]},{"id":25,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.1062035,0,0.536324],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}}]
\ No newline at end of file
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@@ -0,0 +1,3 @@
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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diff --git a/data/PartNet-Mobility/Chair/44876/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/44876/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fd7951cd5afbb53ad127432d9dc0862d1aebb99a
--- /dev/null
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index 0000000000000000000000000000000000000000..eb3b3731167211ea20c9ad19bfee5af0f888e738
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diff --git a/data/PartNet-Mobility/Chair/44876/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/44876/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be98e5460b1d9d77a3a4612d26748f35655d5cbf
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/44876/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..13ed2189d77ef8e93321bfd5b08bec8aae6656db
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/44876/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/44876/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..24dc5a0c5f48c91977b995e86de3a534c7a47df1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/point_sample/sample-points-all-pts-label-10000.ply
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